An underwater displacement measurement device and a displacement measurement method

Abstract

The present invention belongs to the technical field of displacement measurement of movable parts of underwater equipment, and particularly relates to a displacement measurement device and a displacement measurement method for underwater use; a displacement measurement device for underwater use includes a measurement wedge and a moving wedge made of the same material. A measurement component is installed inside the measurement wedge. The measurement component includes an ultrasonic probe, a watertight connector, and a measurement circuit. The ultrasonic probe is electrically connected to the measurement circuit, and the measurement circuit is electrically connected to the watertight connector. The watertight connector extends out of the measurement wedge. The opposite surface of the inclined surface of the moving wedge is a reflecting surface, and the ultrasonic probe is installed facing the reflecting surface. The measurement circuit is connected with a temperature sensor; a displacement measurement method includes using the displacement measurement device for underwater use to measure an underwater object to be measured; the present invention provides a displacement measurement device and a displacement measurement method for underwater use to solve the problems that the displacement measurement sensor in the prior art cannot overcome the influence of the shell thickness, the influence of liquid properties, and the influence of electromagnetic characteristics.

Description

Technical Field

[0001] The present invention belongs to the technical field of displacement measurement of movable parts of underwater equipment, and particularly relates to a displacement measurement device and a displacement measurement method for underwater use. Background Art

[0002] Common displacement measurement sensors include resistive displacement sensors, capacitive displacement sensors, inductive displacement sensors, laser displacement sensors, etc. Its principle can be understood as that the movable part to be measured and the stationary part are coupled through a certain form of physical parameter, and the movement of the movable part is reflected by the change of this coupling degree.

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

[0004] In order to overcome the deficiencies of the prior art, the present invention provides a displacement measurement device for underwater use to solve the problem that the displacement measurement sensors in the prior art cannot overcome the influence of the housing thickness, liquid properties, and electromagnetic properties.

[0005] One solution of the present invention provides a displacement measurement device for underwater use, including a measurement wedge and a moving wedge. The inclined surface of the measurement wedge is movably connected to the inclined surface of the moving wedge, and the measurement wedge and the moving wedge are tightly connected through a pressing device 4;

[0006] A measurement component is installed inside the measurement wedge. The measurement component includes an ultrasonic probe, a watertight connector, and a measurement circuit made of the same material. The ultrasonic probe is electrically connected to the measurement circuit, the measurement circuit is electrically connected to the watertight connector, and the watertight connector extends out of the measurement wedge;

[0007] The opposite surface of the inclined surface of the moving wedge is a reflecting surface. The ultrasonic probe is installed facing the reflecting surface, and the measurement circuit is electrically connected to a temperature sensor;

[0008] The ultrasonic probe is used to emit ultrasonic waves vertically incident on the reflecting surface, receive the echo reflected by the reflecting surface, and continuously transmit the corresponding acoustic wave signal to the measurement circuit;

[0009] It further includes an external final calculation device, which is preset with the wedge angle data of the moving wedge;

[0010] The temperature sensor is used to measure the temperature of the moving wedge and continuously transmit the temperature signal to the measurement circuit;

[0011] The measurement circuit is used to process the acoustic wave signal continuously transmitted by the ultrasonic probe and the temperature signal continuously transmitted by the temperature sensor, and generate a calculation result for transmission to the watertight joint;

[0012] The watertight joint is used to receive the calculation result from the measurement circuit and transmit it to the external final calculation device;

[0013] It should be noted that during actual use, since the ultrasonic probe is installed facing the reflecting surface, the ultrasonic wave emitted by the ultrasonic probe is constantly vertically incident on the emitting surface, so as to directly reflect the echo back to the ultrasonic probe through the reflecting surface, and then an accurate acoustic wave signal can be obtained, which can be used by the measurement circuit to measure the actual displacement of the ultrasonic probe relative to the emitting surface, that is, the vertical displacement of the measuring wedge relative to the moving wedge;

[0014] During 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 continuously obtained by the temperature sensor for the measuring wedge is also the temperature of the moving wedge, which can be used by the measurement circuit to measure the actual displacement of the ultrasonic probe relative to the emitting surface, that is, the vertical displacement of the measuring wedge relative to the moving wedge;

[0015] During actual use, the measurement circuit is internally provided with a processor for processing the acoustic wave signal continuously transmitted by the ultrasonic probe and the temperature signal continuously transmitted by the temperature sensor, and a sound velocity table storing the sound velocities of ultrasonic waves in different materials under different temperature conditions. When the processor receives the acoustic wave signal and the temperature signal, on the one hand, it converts the acoustic wave signal into the time difference between the ultrasonic wave emitted by the ultrasonic probe at the initial position and the actual position to receive the echo, and on the other hand, it converts the temperature signal into the actual sound velocity, and calculates the initial distance and the actual distance of the ultrasonic probe relative to the emitting surface according to the time when the ultrasonic probe emits the ultrasonic wave to receive the echo at the initial position and the time when the ultrasonic probe emits the ultrasonic wave to receive the echo at the initial position, in cooperation with the actual sound velocity, and transmits the initial distance and the actual distance to the watertight joint; among them, the calculation principle formulas for the initial distance and the actual distance are , where s is the distance between the ultrasonic probe and the reflecting surface, v is the actual sound velocity, and T is 1 / 2 of the time for the ultrasonic probe to emit the ultrasonic wave to receive the echo;

[0016] In the actual use process, the external final computing device can obtain the wedge angle data through ways such as manual input of the wedge angle data of the moving wedge by the staff, so that the external final computing device obtains the wedge angle data, and combines with the measurement circuit calculation result data transmitted from the watertight joint to the external computing device to jointly calculate the actual displacement result; among them, 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 as Sc and the actual distance as . According to the calculation formula, it can be obtained that ;

[0017] It should be additionally noted that the specific structure of the pressing device 4 in this solution is not limited, as long as it can make the measuring wedge and the moving wedge tightly connected;

[0018] In this solution, by setting the measuring wedge and the moving wedge of the same material and setting a measuring component in the measuring wedge, on the one hand, non-corrosion-resistant components 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 moving wedge, directly generate a calculation result in the measuring circuit in the measuring component, and through the watertight joint, overcome the influence of the liquid properties and electromagnetic characteristics, and directly transmit the calculation result to the external final computing device to obtain accurate displacement data.

[0019] The present invention has the following advantages compared with the prior art:

[0020] 1. By installing the ultrasonic probe facing the reflecting surface, the present invention can ensure that the ultrasonic wave emitted by the ultrasonic probe is constantly vertically incident on the reflecting surface and directly reflects the echo back to the ultrasonic probe. This vertical incidence and reflection method greatly reduces the error caused by the change of the ultrasonic wave propagation path and improves the accuracy of measuring displacement according to the acoustic wave signal;

[0021] 2. The present invention selects the measuring wedge and the moving wedge of the same material, which can ensure that the ultrasonic wave emitted by the ultrasonic probe in the measuring component has the same speed 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, so that in the scenario where the underwater environmental temperature fluctuates greatly, the present invention can effectively avoid the measurement error caused by the sound velocity difference caused by the temperature change and ensure that the displacement measurement result always maintains high precision;

[0022] 3. The processor in the measurement circuit of the present invention converts the acoustic wave signal into a time difference, and calculates the distance change between the ultrasonic probe and the reflecting surface by combining the actual sound speed 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. Additionally, this measurement principle is easy to understand and implement, facilitating the debugging, maintenance and operation of the equipment in practical engineering applications.

[0023] 4. The watertight joint in the measurement component of the present invention can effectively prevent water from invading the interior of the present invention, ensuring the safety and reliability of the internal circuit and signal transmission, maintaining the good sealing performance of the present invention, guaranteeing the continuous and stable operation of the entire measurement device, reducing the incidence of equipment failures, and improving the overall reliability of the equipment.

[0024] 5. The external final calculation device of the present invention can obtain the wedge angle data through various methods, and jointly calculate the actual displacement result in cooperation with the measurement circuit calculation result data transmitted by the watertight joint. This data processing and cooperation method has high flexibility, and the appropriate wedge angle data acquisition method can be selected according to the actual application scenario and requirements to meet the needs of different users and different application scenarios.

[0025] In one of the solutions, the measurement circuit includes a measurement module, the measurement module includes a processor and a memory, a correction table corresponding to wedges of different materials is preset in the processor, and the memory stores a measurement program.

[0026] The memory is used to receive the working signal from the processor and execute the measurement program according to the working signal.

[0027] In this solution, the correction table corresponding to wedges of different materials preset in the processor can accurately compensate for the sound speed difference caused by temperature changes of ultrasonic waves in wedges of different materials by combining the temperature information obtained by the temperature sensor. Since the thermal expansion coefficients and acoustic characteristics of different materials are different, the sound speed will change when the underwater environmental temperature fluctuates, which will affect the displacement measurement accuracy. The correction table can accurately adjust the sound speed calculation parameters according to the current temperature and the wedge material, making the measurement result closer to the true displacement value and effectively reducing the measurement error caused by temperature and material factors.

[0028] In one of the solutions, the steps for obtaining the correction table include:

[0029] Select a test block made of the same material as the moving wedge and measure the thickness Y in a certain direction.

[0030] Record the initial temperature value , and use the same test circuit as the measurement circuit to measure the time required for the same type of probe to emit ultrasonic waves to pass through the thickness Y. ;

[0031] Calculate the sound velocity through the thickness Y and the initial temperature value ; ;

[0032] Change the temperature value to to obtain a series of ;

[0033] Record a series of in one-to-one correspondence with Calculate the slope and curvature of the sound velocity changing with temperature, and perform interpolation processing on a series of and data, and finally generate a correction table.

[0034] In this solution, 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 materials available for the moving wedge can be obtained, enabling the measurement circuit to accurately adjust the sound velocity calculation according to the current temperature during the actual measurement process, thereby greatly improving the accuracy of displacement measurement and reducing the displacement measurement deviation caused by sound velocity errors.

[0035] In one of the solutions, the execution steps of the measurement program include:

[0036] The instruction drives the processor to obtain the acoustic wave signal and the temperature signal to measure the acoustic wave signal;

[0037] The instruction drives the processor in the measurement circuit to measure the time Tc from the ultrasonic probe at the initial position to emit ultrasonic waves to receive the echo and the time from the ultrasonic probe at the final position to emit ultrasonic waves to receive the echo ;

[0038] Obtain the temperature t in the temperature signal, and obtain the acoustic wave velocity at this time according to the correction table ;

[0039] Calculate the initial position displacement Sc and the actual position displacement of the measurement wedge through Tc, and ; ;

[0040] Output Sc and to the watertight joint.

[0041] In this solution, through the measurement program cooperating with the measurement circuit, 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 measurement wedge , 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.

[0042] 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.

[0043] 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.

[0044] In one of the solutions, a sealing component is installed between the movable wedge and the sliding guide rail.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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:

[0049] The staff obtains the wedge angle a of the moving wedge and inputs it into an external final calculation device;

[0050] 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;

[0051] The displacement measuring device is placed at an underwater target location and connected to the underwater object to be measured;

[0052] The displacement measurement device is switched to the working state, and the displacement measurement device starts to work and executes the measurement program;

[0053] The watertight joint outputs Sc and to the external final calculation device, and the external final calculation device calculates based on the data of Sc, and the wedge angle a, and outputs the actual displacement result of the underwater object to be measured.

[0054] It should be noted that the way for the staff to obtain the specific data of the wedge angle a can specifically be directly measuring the wedge angle a of the moving wedge, directly reading the wedge angle information in the parameter table of the moving wedge, or connecting other automatic measuring devices to the external final calculation device to automatically read the wedge angle information and transmit it to the external final calculation device, and similar ways that can obtain the specific data of the wedge angle a of the same type.

[0055] It should be additionally noted that the displacement measurement device further includes a controller capable of controlling its working state and a signal receiver installed on the displacement measurement device. The signal receiver can specifically receive the control signal from the controller to control the start-stop state and working state of the displacement measurement device.

[0056] 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 measurement device, then the actual displacement result of the underwater object to be measured can be directly obtained. Compared with the existing displacement measurement methods, the present invention reduces the complexity of the staff's operation process, also reduces the probability of errors in the operation process, greatly reduces the threshold for the staff to operate the displacement measurement device, and reduces the labor training cost.

[0057] In one of the solutions, the displacement measurement device for underwater further includes a signal receiver and an external controller. The signal receiver is used to receive the control signal of the external controller, and the external controller is used to control the start-stop state and working state of the displacement measurement device for underwater.

[0058] In this solution, by setting the external controller and the signal receiver, when the displacement measurement device for underwater works in scenarios with complex underwater environments such as deep sea or in the presence of strong water currents, high water pressure, dangerous underwater organisms, etc., the staff can issue instructions through the external controller at a safe location, reducing the operation risk of the staff and improving the operation convenience of the staff.

[0059] In one of the solutions, the displacement measurement device for underwater is connected to the underwater object to be measured through the moving wedge.

[0060] In this solution, the moving wedge is directly connected to the underwater object to be measured, enabling the moving wedge to quickly and accurately respond to the displacement change of the underwater object to be measured, avoiding problems such as gaps, looseness, or elastic deformation that may occur in the connecting components when a connecting component is provided in the middle. Thus, it ensures 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

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0062] Figure 1 FIG. is a schematic diagram of the overall structure of one embodiment of a displacement measurement device for underwater use according to the present invention;

[0063] Figure 2 FIG. is a schematic diagram of the internal structure of the measuring wedge in one embodiment of a displacement measurement device for underwater use according to the present invention;

[0064] Figure 3 FIG. is a schematic diagram of the working states of the measuring wedge and the moving wedge in one embodiment of a displacement measurement method according to the present invention;

[0065] Figure 4 FIG. is a schematic diagram of the acoustic wave direction of the measuring wedge in one embodiment of a displacement measurement device for underwater use according to the present invention;

[0066] Figure 5 FIG. is a schematic diagram of the operation process of the staff in a displacement measurement method according to the present invention.

[0067] Among them, 1. Measuring wedge; 2. Moving wedge; 3. Sliding guide rail; 4. Pressing device; 5. Ultrasonic probe; 6. Measuring circuit; 7. Watertight joint; 8. Reflecting surface. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0068] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0069] It should be noted that if there are directional indications involved in the embodiments of the present invention (such as up, down, left, right, front, back...), then such directional indications are only used to explain the relative positional relationship, movement conditions, etc. between components in a specific posture. If this specific posture changes, then the directional indications will also change accordingly.

[0070] In addition, if there are descriptions such as "first", "second", etc. involved in the embodiments of the present invention, then such descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel scenarios. Taking "A and / or B" as an example, it includes scenario A, or scenario B, or the scenario where both A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0071] It should be pre - stated that the present invention does not specifically limit the specific structures of the PCB board, contact seat, and wiring terminal group used in the present invention. Among them, the limitation of the contact seat is only based on having a structure capable of installing the shaft - end drive assembly 2 and having external wiring terminals. The limitation of the PCB board is only based on having external wiring terminals. The limitation of the wiring terminal group is only based on being respectively arranged on the contact seat, the PCB board, and the shaft - end housing 1. Therefore, the above - mentioned specific structures are not shown in the drawings.

[0072] Please refer to Figures 1-5 , one embodiment of the present invention provides a displacement measurement device for underwater, including a measurement wedge 1 and a moving wedge 2. The inclined surface of the measurement wedge 1 is movably connected to the inclined surface of the moving wedge 2, and the measurement wedge 1 and the moving wedge 2 are tightly connected through a pressing device 4;

[0073] A measurement component is installed inside the measurement wedge 1. The measurement component includes an ultrasonic probe 5, a watertight connector 7, and a measurement circuit 6 made of the same material. The ultrasonic probe 5 is electrically connected to the measurement circuit 6, the measurement circuit 6 is electrically connected to the watertight connector 7, and the watertight connector 7 extends out of the measurement wedge 1;

[0074] The opposite surface of the inclined surface of the moving wedge 2 is a reflecting surface 8. The ultrasonic probe 5 is installed facing the reflecting surface 8, and the measurement circuit 6 is electrically connected to a temperature sensor;

[0075] The ultrasonic probe 5 is used to emit ultrasonic waves that vertically incident on the reflecting surface 8, receive the echo reflected by the reflecting surface 8, and continuously transmit the corresponding acoustic wave signals to the measuring circuit 6;

[0076] It further includes an external final calculation device, and the external final calculation device is preset with the wedge angle data of the moving wedge 2;

[0077] 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;

[0078] The measuring circuit 6 is used to process the acoustic wave signals continuously transmitted by the ultrasonic probe 5 and the temperature signals continuously transmitted by the temperature sensor, and generate a calculation result to be transmitted to the watertight joint 7;

[0079] The watertight joint 7 is used to receive the calculation result from the measuring circuit 6 and transmit it to the external final calculation device;

[0080] It should be noted that in the actual use process, since the ultrasonic probe 5 is installed facing the reflecting surface 8, the ultrasonic waves emitted by the ultrasonic probe 5 are constantly vertically incident on the emitting surface, so as to directly reflect the echo to the ultrasonic probe 5 through the reflecting surface 8, and then obtain accurate acoustic wave signals, which can be used by the measuring circuit 6 to measure the actual displacement of the ultrasonic probe 5 relative to the emitting surface, that is, the vertical displacement of the measuring wedge 1 relative to the moving wedge 2;

[0081] In the actual use process, 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 continuously obtained by the temperature sensor for the measuring wedge 1 is also the temperature of the moving wedge 2, which can be used by the measuring circuit 6 to measure the actual displacement of the ultrasonic probe 5 relative to the emitting surface, that is, the vertical displacement of the measuring wedge 1 relative to the moving wedge 2;

[0082] In the actual use process, the measuring circuit 6 is internally provided with a processor for processing the acoustic wave signals continuously transmitted by the ultrasonic probe 5 and the temperature signals continuously transmitted by the temperature sensor, and a sound velocity table storing the sound velocities of ultrasonic waves in different materials under different temperature conditions. When the processor receives the acoustic wave signals and temperature signals, on the one hand, it converts the acoustic wave signals into the time difference between the ultrasonic waves emitted by the ultrasonic probe 5 at the initial position and the actual position to receive the echo, and on the other hand, it converts the temperature signals into the actual sound velocity, and calculates the initial distance and the actual distance of the ultrasonic probe 5 relative to the emitting surface according to the time when the ultrasonic probe 5 emits ultrasonic waves to receive the echo at the initial position and the time when the ultrasonic probe 5 emits ultrasonic waves to receive the echo at the initial position, and cooperates with the actual sound velocity, and transmits the initial distance and the actual distance to the watertight joint 7; Among them, the calculation principle formulas for the initial distance and the actual distance are , 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 when the ultrasonic probe 5 emits ultrasonic waves to when it receives the echo;

[0083] Please refer to Figure 4 , s is the actual distance between the ultrasonic probe 5 and the reflecting surface 8, v is the propagation velocity of sound waves in the wedge metal material, 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 cooperation with the aforementioned sound velocity meter. T is 1 / 2 of the time from when the ultrasonic probe 5 emits ultrasonic waves to when it receives the echo, which is converted by the processor in the measuring circuit 6. By calculating the principle formula , 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 can be calculated respectively.

[0084] During actual use, the external final calculation device can obtain the wedge angle data through methods such as manual input of the wedge angle data of the moving wedge 2 by the staff, and cooperate with the calculation result data of the measuring circuit 6 transmitted from the watertight joint 7 to the external calculation device to jointly calculate the actual displacement result; among them, 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; the initial distance is set as Sc, and the actual distance is set as , according to the calculation formula, it can be obtained that ;

[0085] It should be additionally noted that the specific structure of the pressing device 4 in this embodiment is not limited, as long as it can tightly connect the measuring wedge 1 and the moving wedge 2;

[0086] In this embodiment, by setting the measuring wedge 1 and the moving wedge 2 with the same material and setting a measuring component in the measuring wedge 1, on the one hand, non-corrosion-resistant components 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 moving wedge 2, directly generate a calculation result in the measuring circuit 6 in the measuring component, and through the watertight joint 7, overcome the influence of the liquid properties and electromagnetic characteristics, and directly transmit the calculation result to the external final calculation device to obtain accurate displacement data.

[0087] The present invention has the following advantages compared with the prior art:

[0088] 1. By installing the ultrasonic probe 5 facing the reflecting surface 8, the present invention can ensure that the ultrasonic waves emitted by the ultrasonic probe 5 are constantly vertically incident on the reflecting surface 8 and directly reflect the echo back to the ultrasonic probe 5. This vertical incidence and reflection method greatly reduces the error caused by the change of the ultrasonic wave propagation path and improves the accuracy of measuring displacement according to the sound wave signal;

[0089] 2. The present invention selects the measuring wedge 1 and the moving wedge 2 made of the same material, which can ensure that the ultrasonic waves emitted by the ultrasonic probe 5 in the measuring component have the same speed in the measuring wedge 1 and the moving wedge 2. In cooperation with the temperature sensor connected to the measuring circuit 6, the temperature of the measuring wedge 1 and the moving wedge 2 can be obtained in real time. Based on this temperature signal and combined with the sound speed table stored in the measuring circuit 6, the actual sound speed of the ultrasonic waves at different temperatures can be accurately calculated. Furthermore, the distance change between the ultrasonic probe 5 and the reflecting surface 8 can be accurately calculated, enabling the present invention to effectively avoid measurement errors caused by sound speed differences due to temperature changes in scenarios with large fluctuations in the underwater ambient temperature, and ensuring that the displacement measurement results always maintain high precision.

[0090] 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 by combining the actual sound speed determined by the temperature signal. The measurement principle is simple, intuitive and efficient. Compared with some displacement measurement methods with complex 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. Additionally, this measurement principle is easy to understand and implement, facilitating the debugging, maintenance and operation of the equipment in practical engineering applications.

[0091] 4. Through the watertight joint 7 in the measuring component, the present invention can effectively prevent water from invading the interior of the present invention, ensure the safety and reliability of the internal circuit and signal transmission, maintain the good sealing performance of the present invention, guarantee the continuous and stable operation of the entire measuring device, reduce the incidence of equipment failures, and improve the overall reliability of the equipment.

[0092] 5. The external final calculation device of the present invention can obtain the wedge angle data in various ways, and jointly calculate the actual displacement result in cooperation with the calculation result data of the measuring circuit 6 transmitted by the watertight joint 7. This data processing and cooperation method has high flexibility, and the appropriate wedge angle data acquisition method can be selected according to the actual application scenario and requirements to meet the needs of different users and different application scenarios.

[0093] In one embodiment, the measuring circuit 6 includes a measuring module. The measuring module includes a processor and a memory. A correction table corresponding to wedges made of different materials is preset in the processor, and a measurement program is stored in the memory.

[0094] The memory is used to receive the working signal from the processor and execute the measurement program according to the working signal.

[0095] In this embodiment, the correction table corresponding to different material wedges preset in the processor can, in combination with the temperature information obtained by the temperature sensor, accurately compensate for the difference in sound velocity caused by temperature changes of ultrasonic waves in different material wedges. Since the thermal expansion coefficients and acoustic characteristics of different materials are different, when the underwater environmental temperature fluctuates, the sound velocity will change, thus affecting the displacement measurement accuracy. The correction table can accurately adjust the sound velocity calculation parameters according to the current temperature and the wedge material, making the measurement result closer to the true displacement value and effectively reducing the measurement error caused by temperature and material factors.

[0096] In one embodiment, the steps for obtaining the correction table include:

[0097] Select a test block with the same material as the moving wedge 2 and measure the thickness Y in a certain direction;

[0098] Record the initial temperature value, and use the same test circuit as the measurement circuit 6 to measure the time required for the same type of probe to emit ultrasonic waves to pass through the thickness Y; ;

[0099] Based on the thickness Y and the initial temperature value Calculate the sound velocity ;

[0100] Change the temperature value to , and obtain a series of ;

[0101] Record a series of in one-to-one correspondence with , calculate the slope and curvature of the sound velocity changing with temperature, and perform interpolation processing on a series of and data, and finally generate a correction table.

[0102] In this embodiment, by using a test block with the same material as the moving wedge 2 to generate the 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 between the sound velocity and temperature can be obtained for the materials that the moving wedge 2 can use, enabling the measurement circuit 6 to accurately adjust the sound velocity calculation according to the current temperature during the actual measurement process, thereby greatly improving the accuracy of displacement measurement and reducing the displacement measurement deviation caused by sound velocity error.

[0103] The following specifically describes the principle of obtaining the specific data of the correction table in this embodiment:

[0104] Assume that the thickness of the test block is Y, the initial temperature value is , and the initial sound velocity is : According to calculate the initial sound velocity , and then change the temperature value multiple times to , according to , a series of are calculated and a series of and are correspondingly recorded by a processor in the test circuit. The slope and curvature of the sound velocity varying with temperature are calculated, and interpolation processing is performed on a series of and data. Finally, a correction table is generated and stored in the memory in the test circuit.

[0105] In one embodiment, the execution steps of the measurement program include:

[0106] An instruction drives the processor to acquire a sound wave signal and a temperature signal to measure the sound wave signal;

[0107] An instruction drives the processor in the measurement circuit 6 to measure the time Tc from when the ultrasonic probe 5 at the initial position emits ultrasonic waves to when the echo is received in the sound wave signal, and the time ;

[0108] The temperature t in the temperature signal is acquired, and the sound wave velocity at this time is obtained according to the correction table ;

[0109] The initial position displacement Sc and the actual position displacement of the measurement wedge 1 are calculated through Tc, and ; ;

[0110] Sc and are output to the watertight joint 7.

[0111] In this embodiment, through the measurement program cooperating with the measurement circuit 6, the sound wave signal and the temperature signal can be directly converted into the initial position displacement Sc and the actual position displacement of the measurement wedge 1 , and Sc and are output to the watertight joint 7 to cooperate with the watertight joint 7 to transmit Sc and to an external final calculation device to obtain an actual displacement result; this kind of measurement program has the characteristics of simplicity, intuitiveness and high efficiency.

[0112] The following specifically describes the principle of the measurement program obtaining specific data in this embodiment:

[0113] Please refer to Figure 3 . Let the time from when the ultrasonic probe 5 at the initial position emits ultrasonic waves to when the echo is received be Tc, and let the time from when the ultrasonic probe 5 at the final position emits ultrasonic waves to when the echo is received. Let the sound wave velocity corresponding to the temperature in the temperature signal be , assuming the initial position displacement is Sc, the actual position displacement is :

[0114] 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 .

[0115] 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 .

[0116] 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.

[0117] In one embodiment, a sealing component is installed between the movable wedge 2 and the sliding guide rail 3 .

[0118] 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.

[0119] 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;

[0120] 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;

[0121] Additionally, in this embodiment, the specific structures of the elastic filling member and the elastic scraping blade are not limited. The specific structure of the elastic filling member only needs to be able to adapt to the sliding guide rail 3 and drive the moving wedge block 2 on the sliding guide rail 3. The elastic scraping blade only needs to be able to scrape the area of the sliding guide rail 3 where the elastic filling block is about to reach when the elastic filling member moves following the moving wedge block 2.

[0122] One embodiment of the present invention provides a displacement measurement method, which includes using the aforementioned displacement measurement device for underwater to measure an underwater object to be measured. Specifically, it includes:

[0123] The staff obtains the wedge angle a of the moving wedge block 2 and inputs it into an external final calculation device;

[0124] Start the displacement measurement device to the standby state, and the displacement measurement device obtains the correction table corresponding to wedge blocks of different materials;

[0125] Place the displacement measurement device at the underwater target position and connect it to the underwater object to be measured;

[0126] Convert the displacement measurement device into the working state, and the displacement measurement device starts to work and executes the measurement program;

[0127] The watertight joint 7 outputs Sc and to the external final calculation device, and the external final calculation device calculates based on the data of Sc, and the wedge angle a, and outputs the actual displacement result of the underwater object to be measured.

[0128] It should be noted that the specific way for the staff to obtain the specific data of the wedge angle a can specifically be directly measuring the wedge angle a of the moving wedge block 2, directly reading the wedge angle information in the parameter table of the moving wedge block 2, or by connecting other automatic measurement devices to the external final calculation device to automatically read the wedge angle information and transmit it to the external final calculation device, and similar ways that can obtain the specific data of the wedge angle a of the same type.

[0129] It should be additionally noted that the displacement measurement device further includes a controller capable of controlling its working state and a signal receiver installed on the displacement measurement device. The signal receiver can specifically receive the control signal from the controller to control the start-stop state and working state of the displacement measurement device.

[0130] 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 measurement device, and then can directly obtain the actual displacement result of the underwater object to be measured. Compared with the existing displacement measurement methods, the present invention reduces the complexity of the staff's operation process, also reduces the probability of errors in the operation process, greatly reduces the threshold for the staff to operate the displacement measurement device, and reduces the labor training cost.

[0131] The principle of the external final calculation device obtaining the actual displacement result in this embodiment will be specifically described below:

[0132] Please refer to Figure 3 , for the measuring wedge 1 and the moving wedge 2, there is a 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;

[0133] Combined with the principle in the foregoing measurement procedure, it can be obtained that ;

[0134] Therefore, by obtaining Sc and through the measuring component, the moving distance D of the moving wedge 2 from the initial position to the actual position can be obtained. In the actual use process of the displacement measuring device, the moving wedge 2 is directly connected to the underwater object to be measured, that is, D is the final actual displacement result.

[0135] In one embodiment, the underwater displacement measuring device further includes a signal receiver and an external controller. The signal receiver is used to receive the control signal of the external controller, and the external controller is used to control the start-stop state and working state of the underwater displacement measuring device.

[0136] In this embodiment, by setting the external controller and the signal receiver, when the underwater displacement measuring device works in scenarios with complex underwater environments such as deep sea or strong water currents, high water pressure, and dangerous underwater organisms, the staff can send instructions through the external controller at a safe position, reducing the operation risk of the staff and improving the operation convenience of the staff.

[0137] In one embodiment, the underwater displacement measuring device is connected to the underwater object to be measured through the moving wedge 2.

[0138] In this embodiment, by directly connecting the moving wedge 2 to the underwater object to be measured, the moving wedge 2 can quickly and accurately respond to the displacement change of the underwater object to be measured, avoiding problems such as gaps, looseness, or elastic deformation that may occur in the connecting components when connecting components are set in the middle. Thus, it is ensured that the relative displacement between the measuring wedge 1 and the moving wedge 2 can truly and accurately reflect the actual displacement of the underwater object to be measured, greatly improving the accuracy of displacement measurement.

[0139] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structural transformation made under the inventive concept of the present invention, or direct / indirect application in other related technical fields, is 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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