Underwater shock wave multi-point linear measurement device and adaptive method
By designing a multi-point linear measurement device and adaptive method for underwater shock waves, and using sensors and PID controllers to adjust the position of the installation platform, the problem of inaccurate underwater shock wave measurement was solved, multiple collision detection was achieved, and the measurement accuracy and adaptability were improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CCCC SECOND HARBOR ENGINEERING CO LTD
- Filing Date
- 2025-11-17
- Publication Date
- 2026-08-04
AI Technical Summary
Existing underwater shock wave measurement devices are inaccurate in measuring the location of the explosion point, and the float is prone to move during the explosion, causing the measurement point to change and affecting the accuracy of the measurement results.
An underwater shock wave multi-point linear measurement device was designed, including an installation platform, a submersible device, a traction unit, and an adaptive method. The position of the installation platform is adjusted by sensors and a PID controller to ensure that it remains relatively stationary with respect to the explosion source. The moving components change the area of the test surface facing the explosion source to achieve multiple collision detection.
It improves the accuracy and precision of underwater measurement points, enabling detection in underwater environments that more closely resemble actual conditions, reducing shock wave energy loss, and enhancing the adaptability of the device and the realism of the measurement system.
Smart Images
Figure CN121453557B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the technical field of underwater multi-point shock wave detection, specifically an underwater shock wave multi-point linear measurement device and adaptive method. Background Technology
[0002] Underwater explosion shock wave measurement involves capturing the pressure changes of the shock wave generated by an explosion using underwater pressure sensors. After signal conditioning, acquisition, and storage, parameters such as peak pressure, impulse, and duration are analyzed to assess the explosive power, propagation patterns, and effects on structures, providing data support for the safety and protection design of underwater engineering projects.
[0003] For example, Chinese patent application CN109506820A discloses a shock wave force measuring device, which includes a base, several sliding devices, a pressure sensor measuring device, and a measuring fixing device; the sliding devices are slidably connected to the base and have threaded holes; the pressure sensor measuring device is fixed on the sliding devices and includes a sensor measuring unit located at the front end of the pressure sensor measuring device for measuring the shock wave force; the measuring fixing device is fixed on the sliding devices.
[0004] However, existing shock wave measurement devices still have some problems. The shock wave measurement in the above-mentioned devices is not for measuring the explosion point, and the explosion point is not in the water. When existing underwater measurement devices are performing measurement work, they generally use a float to fix the position of the measurement point. However, during the explosion of the explosion source, the float will move, thereby changing the position of the measurement point and causing inaccurate measurement results.
[0005] Therefore, improving the accuracy of underwater measurement points is a problem that needs to be solved. Summary of the Invention
[0006] This invention provides a multi-point linear measurement device and adaptive method for underwater shock waves to solve the above-mentioned problems existing in the prior art.
[0007] A multi-point linear measurement device for underwater shock waves includes: An installation platform is provided with a variety of sensors, and a repeater located on the installation platform and electrically connected to the sensors; A submersible device, detachably connected to the mounting platform, is used to adjust the position of the mounting platform; A towing unit, mounted on the submersible device, is used to connect the mounting platform to the submersible device; The installation platform includes a support platform connected to the traction unit, a horizontal displacement device disposed on the support platform, an adjustment plate connected to the horizontal displacement device, a movable component disposed on the adjustment plate, and a test surface connected to the movable component; The test surface is concave, and the movable component is used to adjust the angle between the test surface and the mounting platform, changing the facing area between the test surface and the explosion source. The sensors include a sonar sensor for distance measurement, a water shock wave sensor for water shock wave measurement, and a emitted overpressure sensor for reflected wave measurement. The sensors also include a platform displacement correction sensor and multiple array-type high-speed cameras mounted on the mounting platform. The high-speed cameras are at a predetermined angle to the mounting platform and are used to detect the velocity of the explosion source and its angle when it impacts the test surface. The device also includes an explosion source positioned at a predetermined distance from the mounting platform. The sensors are located at different positions on the mounting platform for multi-position data acquisition. A PID controller is installed on the mounting platform. The submersible device is also equipped with a float.
[0008] Furthermore, the movable component includes a base fixedly mounted on the adjustment plate, a second universal ball movably connected to the base, a swing arm connected to the second universal ball, first universal balls symmetrically arranged at both ends of the swing arm, a connecting seat movably connected to the first universal ball, and a drive unit movably connected to one of the connecting seats; The test surface is movably connected to another connector; The pendulum is shaped like a rugby ball.
[0009] Furthermore, the drive unit includes a rotary motor fixedly mounted on the base, a rocker arm connected to the output end of the rotary motor, and a through hole opened on the base for the rocker arm to pass through; There is an angle between the lines connecting the two rotary motors and the first omnidirectional ball, which allows the rocker arm to move with the second omnidirectional ball, thereby driving the test surface to move and changing the angle between the test surface and the mounting platform.
[0010] Furthermore, the mounting platform is also equipped with an adjustment component; the adjustment component is connected to the sensor; The adjustment assembly includes an adjustment motor fixedly mounted on the support platform, an adjustment gear connected to the output end of the adjustment motor, a limiting tube located on the support platform, a first rack meshing with the adjustment gear and located in the limiting tube, a moving tube connected to one end of the first rack, a movable seat connected to one end of the moving tube, and a plurality of cross arms for connecting the movable seat and the limiting tube.
[0011] Furthermore, the traction unit includes a mounting frame fixedly installed on the submersible device, an adjustment part fixedly connected to the mounting frame, two limiting parts respectively provided on the mounting frame and the adjustment part, and a traction rope for connecting the submersible device and the installation platform. The adjustment unit includes two telescopic cylinders fixedly mounted on the mounting frame, a pressure plate for connecting the output end of the telescopic cylinders, multiple L-shaped slide rails evenly arranged in the mounting frame, a second rack slidably connected to the slide rails, an adjustment spring for connecting the second rack and the slide rails, multiple transmission gears on the slide rails that mesh with the second rack, a drive shaft connected to the transmission gears and passing through the slide rails, bristles connected to the drive shaft, and an adjustment roller at the top of the second rack. The adjusting roller abuts against the pressure plate.
[0012] Furthermore, the limiting part includes a mounting base fixedly mounted on the pressure plate, a slide block slidably connected to the mounting base, a limiting cylinder connected to the slide block and disposed in the pressure plate, two sliding rods symmetrically disposed on the slide block, two limiting covers fixedly connected to the mounting base, a support base located between the two limiting covers, a plurality of limiting members evenly disposed on the support base, and a drive base connected to the sliding rods and located in the mounting base; The mounting base is provided with a groove for placing the drive seat, and the drive seat and the support base are polygonal structures; The limiting cover is provided with a through hole, and the mounting base is also provided with an arc-shaped limiting hole. By moving the sliding rod, the drive base is driven to move, thereby changing the distance between the limiting components and limiting the traction rope.
[0013] Furthermore, the limiting member includes an adjusting rod that passes through the support base, a mushroom-shaped protrusion at one end of the adjusting rod, a limiting block at the other end of the adjusting rod, and a return spring for connecting the support base and the protrusion.
[0014] An adaptive method includes the following steps: S1: The original signal of the shock wave is acquired by the set sensor, and the acquired signal is processed to output the relevant characteristic parameters of the effective shock wave. S2: By establishing a corresponding coordinate system with the location of the explosion source as the origin, and then calculating the rebound trajectory of the explosion products in the test surface and the displacement of the installation platform based on the relevant characteristic parameters of the effective shock wave in step S1, the real-time distance between the sensor and the explosion source is corrected based on the calculation results, the peak value of the shock wave pressure is recalculated, and finally the value of the shock wave is calibrated. S3: Finally, based on the recalculated peak shock wave pressure and the relevant displacement of the installation platform in step S2, the data is input into the PID controller. The PID controller then adjusts the position of the installation platform to maintain relative stillness between the installation platform and the explosion source, thereby improving the signal acquisition accuracy in the subsequent step S1.
[0015] Furthermore, step S1 also includes the following steps: S11: Obtain the original signal of the shock wave during the underwater explosion, then use the moving average method to eliminate the baseline drift of the signal, and then filter the drifted signal to obtain the preliminary filtered signal. S12: Extract the time-domain features and corresponding frequency-domain features from the preliminary filtered signal in S11, and mark the signal segments that conform to the characteristics of shock waves. Then, calculate the relevant information in the preliminary filtered signal, and finally mark the interference signal segments that conform to the secondary shock wave formed after the explosion shock wave is reflected by the test surface and the vibration generated by the rebound of the explosion products in the test surface, i.e., mark the concave surface emission wave, thereby obtaining the feature marking signal. S13: The feature-labeled signal is decomposed using a wavelet basis, and different thresholds are applied to different frequency bands based on the feature labeling information in the feature-labeled signal. Combined with the concave surface emission wave labeled in the feature-labeled signal, the concave surface emission wave is verified based on the time difference between the concave surface emission waves collected by different sensors, thereby reducing residual reflected wave interference, reconstructing the feature-labeled signal, and thus obtaining an effective shock wave signal. S14: Extract the time-domain peak value of the acquired effective shock wave signal, determine the effective time interval of the effective shock wave signal, calculate the effective shock wave impulse, and finally output the characteristic parameters of the effective shock wave.
[0016] Furthermore, step S2 also includes the following steps: S21: Obtain the location of the explosion source to establish a corresponding three-dimensional coordinate system. Then, set the test surface as a spherical part and obtain the concave center and radius of curvature of the test surface to delineate the effective collision area of the test surface. S22: The initial position and velocity of the explosion products generated when the explosion source explodes are obtained by the set sensors. The time and position of the first collision between the explosion products and the test surface are solved. The subsequent rebound trajectory and number of rebounds of the explosion products in the test surface are calculated iteratively by the corresponding elastic collision theory until the explosion products leave the effective collision area of the test surface. S23: By decomposing the collision force generated each time the explosion products collide with the test surface, and combining it with the collision time series, the collision force is accumulated by superposition and combined with the water flow wave load, thereby constructing the three-dimensional displacement dynamic equation of the installation platform and solving for the actual displacement of the installation platform. S24: Finally, by obtaining the real-time distance between the sensor and the explosion source by the displacement correction of the installation platform corresponding to the sensor, the value of the shock wave is recalculated, thereby eliminating the calculation error caused by the displacement.
[0017] Beneficial Effects: This invention discloses an underwater shock wave multi-point linear measurement device and adaptive method. To improve the accuracy of underwater measurement points, the device includes a diving device. The movement of the diving device adjusts the movement of the installation platform. An adaptive method is used to estimate the shock wave generated during the explosion, and the calculated result controls the PID controller. The PID controller is connected to the diving device, allowing the installation platform to move in the opposite direction, keeping it relatively stationary and improving the detection accuracy of the sensors on the installation platform. During this process, the linear measurement device also includes a movable component. This movable component changes the facing area between the test surface and the explosion source, adjusting the position of the test surface according to the location of the explosion source. This allows the explosion products to collide with the test surface, thus completing the detection of the test surface material. By designing the surface as concave, the explosion products can be ejected multiple times within it, allowing multiple collisions between the explosion products and the test surface from a single explosion. Attached Figure Description
[0018] Figure 1 This is a schematic diagram of the structure of an underwater shock wave multi-point linear measurement device according to the present invention; Figure 2 This is a schematic diagram of the installation platform structure of the present invention; Figure 3 This is a perspective view of the installation platform of the present invention; Figure 4 This is a schematic diagram of the adjustment component structure of the present invention; Figure 5 This is a schematic diagram of the active component structure of the present invention; Figure 6 This is a schematic diagram of the traction unit structure of the present invention; Figure 7 This is a schematic diagram of the adjustment part structure of the present invention; Figure 8 This is a schematic diagram of the adjusting roller structure of the present invention; Figure 9 This is a schematic diagram of the limiting part structure of the present invention; Figure 10 This is a schematic diagram of the limiting component structure of the present invention; Figure 11 This is a schematic diagram of the adaptive method of the present invention.
[0019] Explanation of reference numerals in the attached drawings: 1. Explosion source; 2. Submersible device; 3. Float; 4. Repeater; 5. Mounting platform; 51. Support platform; 52. Horizontal displacement device; 53. Adjusting plate; 54. Test surface; 55. Adjusting assembly; 551. Adjusting motor; 552. Limiting tube; 553. Adjusting gear; 554. First rack; 555. Moving tube; 556. Cross arm; 557. Movable seat; 56. Movable assembly; 561. Base; 562. Rotary motor; 563. Swing arm; 564. First universal ball; 565. Connecting seat; 566. Rocker arm; 567. Second universal ball; 6. Sonar sensor; 7. 9. Overpressure sensor; 8. Water shock wave sensor; 9. Traction unit; 91. Mounting frame; 92. Adjustment unit; 921. Telescopic cylinder; 922. Pressure plate; 923. Slide rail; 924. Second rack; 925. Adjusting spring; 926. Transmission gear; 927. Adjusting roller; 93. Limiting part; 931. Mounting seat; 932. Limiting cylinder; 933. Slide seat; 934. Sliding rod; 935. Limiting cover; 936. Support seat; 937. Limiting component; 9371. Adjusting rod; 9372. Return spring; 9373. Protrusion; 9374. Limiting block; 938. Drive seat; 94. Traction rope. Detailed Implementation
[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
[0021] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.
[0022] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places throughout this specification does not necessarily refer to the same embodiment, nor is it a single embodiment or an embodiment selectively excluded from other embodiments.
[0023] This invention discloses a multi-point linear measurement device and adaptive method for underwater shock waves, referring to... Figures 1-11 A multi-point linear measurement device for underwater shock waves, comprising: Mounting platform 5, equipped with various sensors, and repeater 4 located on the mounting platform 5 and electrically connected to the sensors; a submersible device 2, detachably connected to the mounting platform 5, used to adjust the position of the mounting platform 5; a traction unit 9, mounted on the submersible device 2, used to connect the mounting platform 5 to the submersible device 2; the mounting platform 5 includes a support platform 51 connected to the traction unit 9, a horizontal displacement device 52 mounted on the support platform 51, an adjustment plate 53 connected to the horizontal displacement device 52, a movable component 56 mounted on the adjustment plate 53, and a test surface 54 connected to the movable component 56; the test surface 54 is concave, and the movable component 56 is used to adjust the angle between the test surface 54 and the mounting platform 5, changing the angle between the test surface 54 and the mounting platform 5. 4. The area directly opposite to the explosion source 1; The linear measuring device is equipped with a movable component 56, which can change the area directly opposite to the explosion source 1. The position of the test surface 54 can be adjusted according to the position of the explosion source 1, so that the explosion products after the explosion of the explosion source 1 can collide with the test surface 54, thereby completing the detection of the material of the test surface 54. By setting the test surface 54 as a concave surface, the explosion products can be ejected multiple times within it, so that the explosion products can collide with the test surface 54 multiple times in one explosion. At the same time, the impact of the explosion products and the reflection of the shock wave faced by the detection platform can be closer to reality, making the testing and optimization of the entire detection system more practical and improving its applicability in real underwater environments. Meanwhile, by setting the test surface 54 as a concave surface, it is possible to reflect or converge the shock wave generated by the underwater explosion in a specific direction, thereby more accurately guiding the propagation path of the shock wave and reducing the loss and scattering of shock wave energy in irregular reflection.
[0024] The movable component 56 includes a base 561 fixedly mounted on the adjustment plate 53, a second universal ball 567 movably connected to the base 561, a swing arm 563 connected to the second universal ball 567, first universal balls 564 symmetrically arranged at both ends of the swing arm 563, a connecting seat 565 movably connected to the first universal ball 564, and a drive unit movably connected to one of the connecting seats 565; the test surface 54 is movably connected to the other connecting seat 565; the swing arm 563 is rugby ball shaped; the drive unit includes a rotary motor 562 fixedly mounted on the base 561, a rocker arm 566 connected to the output end of the rotary motor 562, and a through hole opened on the base 561 for the rocker arm 566 to pass through; wherein there is an angle between the lines connecting the two rotary motors 562 and the first universal ball 564, so that the rocker arm 566 can make the swing arm 563 move with the second universal ball 567, thereby driving the test surface 54 to move and changing the angle between the test surface 54 and the mounting platform 5; When the position of the test surface 54 needs to be adjusted to change its facing area with the explosion source 1, the rotary motor 562 starts working. The moving rotary motor 562 drives the rocker arm 566 to move. Then, through the two moving rocker arms 566, the connecting seat 565 can move. Then, the moving connecting seat 565 can drive the swing arm 563 to move through the first universal ball 564. At this time, the swing arm 563 can swing around the second universal ball 567 as the rotation center, so that the test surface 54 can change its facing area with the explosion source 1. This makes it easier for the test surface 54 to receive the explosion products when the explosion source 1 explodes, so that the explosion products can better contact the mounting platform 5, improving the adaptability of the device.
[0025] In a further embodiment, the sensors include a sonar sensor 6 for distance measurement, a water shock wave sensor 8 for water shock wave measurement, and a transmitting overpressure sensor 7 for reflected wave measurement. The sensors also include a platform displacement correction sensor and a plurality of array-type high-speed cameras mounted on the mounting platform 5. The high-speed cameras are at a predetermined angle to the mounting platform 5, and the high-speed cameras are used to detect the velocity of the explosion source 1 and its angle when it impacts the test surface 54. The device also includes an explosion source 1 located at a predetermined distance from the mounting platform 5. The sensors are located at different positions on the mounting platform 5 for multi-position data acquisition. A PID controller is provided on the mounting platform 5. The submersible device 2 is also equipped with a float 3.
[0026] The mounting platform 5 is also equipped with an adjustment component 55; the adjustment component 55 is connected to the sensor; the adjustment component 55 includes an adjustment motor 551 fixedly mounted on the support platform 51, an adjustment gear 553 connected to the output end of the adjustment motor 551, a limiting tube 552 located on the support platform 51, a first rack 554 meshing with the adjustment gear 553 and located in the limiting tube 552, a moving tube 555 connected to one end of the first rack 554, a movable seat 557 connected to one end of the moving tube 555, and a plurality of cross arms 556 for connecting the movable seat 557 and the limiting tube 552; the mounting platform 5 in this device is equipped with a housing to protect the structure on the mounting platform 5 and prevent damage to the structure; Before measurement, the adjusting motor 551 starts working. The moving adjusting motor 551 drives the first rack 554 to move through the adjusting gear 553. The moving first rack 554 then drives the moving tube 555 to move, thereby changing the distance between the movable seat 557 and the limiting tube 552, thus completing the adjustment of the sensor position. Then, when it is necessary to adjust the position of the test surface 54, the horizontal displacement device 52 starts working. The moving horizontal displacement device 52 drives the adjusting plate 53 to work, and the moving adjusting plate 53 changes the distance between the test surface 54 and the explosion source 1, thereby allowing the test surface 54 to converge the shock wave, thus completing the impact test of the test surface 54.
[0027] The traction unit 9 includes a mounting frame 91 fixedly mounted on the submersible device 2, an adjustment part 92 fixedly connected to the mounting frame 91, two limiting parts 93 respectively disposed on the mounting frame 91 and the adjustment part 92, and a traction rope 94 for connecting the submersible device 2 and the mounting platform 5; the adjustment part 92 includes two telescopic cylinders 921 fixedly mounted on the mounting frame 91, a pressure plate 922 for connecting the output end of the telescopic cylinders 921, and multiple cylinders evenly disposed within the mounting frame 91. An L-shaped slide rail 923, a second rack 924 slidably connected to the slide rail 923, an adjusting spring 925 for connecting the second rack 924 and the slide rail 923, a plurality of transmission gears 926 disposed on the slide rail 923 and meshing with the second rack 924, a drive shaft connected to the transmission gears 926 and passing through the slide rail 923, brush bristles connected to the drive shaft, and an adjusting roller 927 disposed at the top end of the second rack 924; the adjusting roller 927 abuts against the pressure plate 922; When the installation platform 5 is suspended by the traction rope 94, the telescopic cylinder 921 starts to work. The moving telescopic cylinder 921 can drive the pressure plate 922 to work. Then, the moving pressure plate 922 can drive the second rack 924 to move relative to the slide rail 923 through the set adjustment roller 927, so that the second rack 924 can move on the slide rail 923. Then, the moving second rack 924 can drive the transmission gear 926 to rotate. The moving transmission gear 926 can drive the brush to move through the drive shaft. Thus, while adjusting the position of the pressure plate 922, the cleaning work of the traction rope 94 can also be completed. The set adjustment spring 925 can make the adjustment roller 927 abut against the surface of the pressure plate 922, thereby ensuring the stability of the device. During this process, when suspending or measuring, by moving the pressure plate 922 away from the mounting frame 91, the pressure plate 922 can support the traction rope 94, preventing the mounting platform 5 from displacing significantly due to excessive shock waves. During the winding of the traction rope 94, the brush can clean the surface of the traction rope 94, preventing excessive dirt from adhering to the traction rope 94 and causing damage to the traction rope 94 or the submersible device 2.
[0028] The limiting part 93 includes a mounting base 931 fixedly mounted on the pressure plate 922, a slide block 933 slidably connected to the mounting base 931, a limiting cylinder 932 connected to the slide block 933 and disposed in the pressure plate 922, two sliding rods 934 symmetrically disposed on the slide block 933, two limiting covers 935 fixedly connected to the mounting base 931, a support base 936 located between the two limiting covers 935, a plurality of limiting members 937 evenly disposed on the support base 936, and a drive seat 938 connected to the sliding rods 934 and located in the mounting base 931; the mounting base 931 is provided with a drive seat for placing the drive cylinder. The groove of seat 938, the drive seat 938 and the support seat 936 are polygonal structures; the limiting cover 935 is provided with a through hole, and the mounting seat 931 is also provided with an arc-shaped limiting hole. The movement of the sliding rod 934 drives the drive seat 938 to move, thereby changing the distance between the limiting members 937 and limiting the traction rope 94; the limiting member 937 includes an adjusting rod 9371 that passes through the support seat 936, a mushroom-shaped protrusion 9373 provided at one end of the adjusting rod 9371, a limiting block 9374 provided at the other end of the adjusting rod 9371, and a return spring 9372 for connecting the support seat 936 and the protrusion 9373; When the traction rope 94 needs to be clamped, the limiting cylinder 932 starts to work. The moving limiting cylinder 932 can drive the slide 933 to move on the mounting base 931. Then the moving slide 933 can drive the sliding rod 934 to move. In turn, the moving sliding rod 934 can drive the drive seat 938 to move within the mounting base 931. Since both the drive seat 938 and the support seat 936 are hexagonal structures and there is a gap between them, when the drive seat 938 starts to rotate, the distance between the protrusion 9373 and the inner wall of the drive seat 938 changes, thereby changing the deformation of the return spring 9372, thus changing the distance between adjacent limiting blocks 9374. This allows the clamping of traction ropes 94 of different sizes to be completed. At the same time, the clamping can reduce the offset of the mounting platform 5 and ensure the smooth progress of the measurement work.
[0029] An adaptive method includes the following steps: S1: The original signal of the shock wave is acquired by the set sensor, and the acquired signal is processed to output the relevant characteristic parameters of the effective shock wave. S2: By establishing a corresponding coordinate system with the location of the explosion source 1 as the origin, and then calculating the rebound trajectory of the explosion products in the test surface 54 and the displacement of the installation platform 5 according to the relevant characteristic parameters of the effective shock wave in step S1, the real-time distance between the sensor and the explosion source 1 is corrected based on the calculation results, the peak value of the shock wave pressure is recalculated, and finally the value of the shock wave is calibrated. S3: Finally, based on the recalculated peak shock wave pressure and the displacement of the installation platform 5 in step S2, the data is input into the PID controller. The PID controller then adjusts the position of the installation platform 5 to maintain the relative stillness between the installation platform 5 and the explosion source 1, thereby improving the signal acquisition accuracy in the subsequent step S1.
[0030] Step S1 also includes the following steps: S11: Obtain the original signal of the shock wave during the underwater explosion, then use the moving average method to eliminate the baseline drift of the signal, and then filter the drifted signal to obtain the preliminary filtered signal. S12: By extracting the time-domain features and corresponding frequency-domain features from the preliminary filtered signal in S11, and marking the signal segments that conform to the characteristics of the shock wave, then calculating the relevant information in the preliminary filtered signal, and finally marking the interference signal segments that conform to the secondary shock wave formed after the explosion shock wave is reflected by the test surface 54 and the vibration generated by the rebound of the explosion products in the test surface 54, i.e., marking the concave surface emission wave, the feature marking signal is obtained. S13: The feature-labeled signal is decomposed using a wavelet basis, and different thresholds are applied to different frequency bands based on the feature labeling information in the feature-labeled signal. Combined with the concave surface emission wave labeled in the feature-labeled signal, the concave surface emission wave is verified based on the time difference between the concave surface emission waves collected by different sensors, thereby reducing residual reflected wave interference, reconstructing the feature-labeled signal, and thus obtaining an effective shock wave signal. S14: Extract the time-domain peak value of the acquired effective shock wave signal, determine the effective time interval of the effective shock wave signal, calculate the effective shock wave impulse, and finally output the characteristic parameters of the effective shock wave.
[0031] In step S11, the formula for the drift-corrected signal is: ; in This is the drift-corrected signal; N is the window length in the moving average method. The original shock wave signal at time t; Then, filtering is performed on the 500-1000Hz frequency band to suppress the frequency of the explosion product bounce. Related noise; Then, filtering is performed on the 1-2kHz frequency band to reduce the amplitude attenuation rate of the concave reflected wave. Related interference was detected, and a preliminary filtered signal was obtained. ; The time-domain features and corresponding frequency-domain features mentioned in step S12 are respectively: shock wave rise time. Peak factor and frequency entropy By extracting the above features, it is helpful to distinguish between effective shock wave signals and various interference signals, and to achieve accurate extraction of effective shock wave signals. When marking effective shock wave candidate segments, the following conditions must be met: <1ms >10、 >0.8.
[0032] When marking the concave surface reflected wave interference section, the concave surface reflected wave time delay is required. The following conditions must be met: ;and: ; Among them, the is the radius of curvature of the concave surface of test surface 54; h is the initial vertical distance between explosion source 1 and the bottom of the concave surface of test surface 54; The speed of sound in water; When marking the section of vibration interference caused by the rebound of explosion products, the following conditions must be met: The time deviation between the two rebounds is less than 0.01ms, and the attenuation rate of the reflected wave amplitude on the 54 concave test surface is close to the elastic recovery coefficient e of the concave inner wall material. In step S13, the feature-labeled signal is decomposed into 6 layers using the sym wavelet basis, and then differentiated threshold processing is applied to different frequency bands based on the feature labels in the feature-labeled signal. That is, soft threshold filtering is used to preserve details in the low frequency band (0-500Hz), hard threshold filtering is used to strongly suppress interference in the mid frequency band (500Hz-2kHz), and adaptive threshold filtering is used to flexibly remove noise in the high frequency band (>2kHz). Finally, the concave reflection wave time delay marked in the feature annotation signal in step S12 is combined with the feature annotation signal. Cross-sensor time delay consistency verification is performed, i.e., the time delay difference when detecting the same reflected wave across sensors is <0.05ms, thereby confirming the reflected wave, further reducing residual reflected wave interference, reconstructing the signal, and outputting an effective shock wave signal. ; Step S2 also includes the following steps: S21: Obtain the position of the explosion source 1, thereby establishing the corresponding three-dimensional coordinate system. Then, set the test surface 54 as a part of the sphere, and then obtain the concave sphere center and radius of curvature of the test surface 54, thereby delineating the effective collision area of the test surface 54. S22: The initial position and velocity of the explosion products generated when the explosion source 1 explodes are obtained by the set sensors. The time and position of the first collision between the explosion products and the test surface 54 are solved. The rebound trajectory and number of rebounds of the explosion products in the test surface 54 are calculated iteratively by the corresponding elastic collision theory until the explosion products leave the effective collision area of the test surface 54. S23: By decomposing the collision force generated each time the explosion products collide with the test surface 54, and combining it with the collision time series, the collision force is accumulated by superposition and combined with the water flow wave load, thereby constructing the three-dimensional displacement dynamic equation of the installation platform 5 and solving for the actual displacement of the installation platform 5. S24: Finally, by obtaining the real-time distance between the sensor and the explosion source 1 by the displacement correction sensor of the installation platform 5 corresponding to the sensor, the value of the shock wave is recalculated, thereby eliminating the calculation error caused by displacement. Step S21 includes the following steps: First, taking the location of explosion source 1 as the origin, in this coordinate system, the z-axis is perpendicular to the plane of mounting platform 5 and points upwards. Then, the plane formed by the x and y axes coincides with the plane of mounting platform 5. The spatial position formula of each point on the concave surface is: ; Where (x, y, z) represents the coordinates of any point on the concave surface in this three-dimensional coordinate system; , , () represents the coordinates of the center of the concave sphere in this coordinate system; Next, the projection radius of the test surface 54 (concave surface) on the plane of the mounting platform 5 is set as follows: ; and make the projection radius < Concave surface radius of curvature The elastic recovery coefficient of the concave inner wall is set as e, where the elastic recovery coefficient of the metal concave surface is 0.6-0.8 and the elastic recovery coefficient of the non-metal concave surface is 0.3-0.5. Step S22 includes the following steps: Based on the underwater explosion bubble pulsation theory and a corresponding high-speed camera, the relevant initial motion parameters of the explosion product particles are collected. These initial motion parameters include the initial position and initial velocity of a single particle. Then, according to the kinematic model, the trajectory parametric equation of the particle before its first collision with the concave surface is constructed. Finally, combined with the spatial position formula of each point on the concave surface, the time of the first collision between the explosion product particle and the concave surface is obtained. Coordinates of the collision point ( ); Step S23 includes the following steps: When calculating the rebound trajectory and impact force of the explosion products in the concave surface, it is divided into parameter calculation for a single collision and parameter calculation for multiple collisions. When calculating the parameters for a single collision: First, based on the coordinates of the collision point ( ), coordinates of the center of the concave sphere ( , , ) and concave surface radius of curvature Calculate the test surface 54 at the collision point The normal vector from the center of the concave sphere to the point of collision. Then, the component of the particle's velocity in the normal vector direction is calculated. = ,in The particle velocity before the first collision can be captured by a high-speed camera, while the tangential component is... Based on the above calculation results, the collision angle of the explosion products is determined. Then, based on the elastic collision theory and ignoring the elasticity of the concave surface, the normal velocity components after the collision are calculated, i.e., the normal velocity components after the collision. =-e The negative sign indicates opposite directions, and the tangential velocity component after the collision is... Therefore, the formula for the speed after the rebound is:
[0033] in The unit vector representing the tangent direction at the point of collision; Finally, based on the momentum theorem, the collision force of the products of a single explosion is calculated as follows: ; in For particle mass, the formula is: ; in This refers to the contact time between the explosion products and the concave surface during the collision, typically 10-50 seconds. ; The diameter of the explosion product particles; The density of the explosion product particles.
[0034] When calculating parameters for multiple collisions: First, by colliding points As a starting point, then As the new velocity, repeat the above steps to calculate the time of the second collision. Collision point coordinates Rebound speed With collision force The total number of bounces continues until the particles move out of the effective collision zone of the concave surface, meaning the distance from the explosion product particles to the center of the concave surface is greater than the effective collision zone. ; Then, the impact force at each collision is decomposed to calculate the total cumulative impact force of the explosion products, using the following formula: ; ; ; in, , and These are the components of the total cumulative impact force of the explosion products in the x, y, and z directions, respectively. , and , , and , respectively, represent the components of the k-th collision force in the x, y, and z directions; where Let be a unit step function, representing the moment when the collision force begins to act, where t is greater than or equal to 1. When the time is right, the value is 1; otherwise, the value is 0. Finally, based on the water flow wave load and the cumulative collision load from the multiple rebounds of the explosion products, the three-dimensional displacement dynamics equation of the installation platform 5 is modified, where: m ; m ; m ; in, , and These represent the load components of the water flow fluctuations in each direction; , and Let be the components of the total cumulative impact force of the explosion products in each direction; m be the mass of the installation platform 5; c be the damping coefficient; and r be the stiffness of the supporting structure. Then, the displacement of the platform in each direction is obtained by solving the equations using the Newmark-β method. , and .
[0035] Step S24 also includes the following steps: Based on the corrected displacement of the installation platform 5, the real-time actual distance between the sensor and the explosion source 1 is calculated using the following formula: ; in, , and The distance component between the sensor's initial coordinates and explosion source 1; Final revised pressure peak The formula is: = ; Where R0 is the initial spatial distance from the location of the explosion source 1 to the installation platform 5; For effective shock wave signals The peak pressure in the middle.
[0036] The diving device and the horizontal displacement device 52 are existing technologies. The diving device is used to move the installation platform 5. The horizontal displacement device 52 includes two vertically placed lead screw linear motion mechanisms. The position of the adjusting plate 53 can be changed through the set lead screw linear motion mechanisms, thereby moving the test surface 54 and adjusting the linear distance between the explosion points of the test surface 54. The moving average method, elastic collision theory and water flow wave load are all existing technologies.
[0037] In a further embodiment, this adaptive method also includes a central control system, which is connected to sensors and multiple motors via repeaters 4. The sensors can transmit the collected information to the central control system, and the central control system can also control the motors to adjust the position of the test surface 54 or the mounting platform 5, so that the mounting platform 5 is in a relatively static state, ensuring the smooth progress of the measurement work and improving the measurement accuracy.
[0038] Working principle description: When it is necessary to adjust the position of the test surface 54 to change its facing area with the explosion source 1, the rotary motor 562 starts working. The moving rotary motor 562 drives the rocker arm 566 to move. Then, through the two moving rocker arms 566, the connecting seat 565 moves. The moving connecting seat 565, through the first universal ball 564, drives the swing arm 563 to move. At this time, the swing arm 563 can swing around the second universal ball 567 as the rotation center, thereby changing the facing area of the test surface 54 with the explosion source 1. This allows the test surface 54 to better receive the explosion products when the explosion source 1 explodes, and allows the explosion products to better contact the mounting platform 5, improving the efficiency of the device. Adaptability; Before measurement, the adjusting motor 551 starts working. The moving adjusting motor 551 can drive the first rack 554 to move through the adjusting gear 553. Then, the moving first rack 554 can drive the moving tube 555 to move, thereby changing the distance between the movable seat 557 and the limiting tube 552, completing the adjustment of the sensor position. Then, when it is necessary to adjust the position of the test surface 54, the horizontal displacement device 52 starts working. Then, the moving horizontal displacement device 52 can drive the adjusting plate 53 to work. In turn, the moving adjusting plate 53 can change the distance between the test surface 54 and the explosion source 1, so that the test surface 54 can focus the shock wave, completing the impact test of the test surface 54. When the installation platform 5 is suspended by the traction rope 94, the telescopic cylinder 921 starts to work. The moving telescopic cylinder 921 can drive the pressure plate 922 to work. Then, the moving pressure plate 922 can drive the second rack 924 to move relative to the slide rail 923 through the set adjustment roller 927, so that the second rack 924 can move on the slide rail 923. Then, the moving second rack 924 can drive the transmission gear 926 to rotate. The moving transmission gear 926 can drive the brush to move through the drive shaft, so that the cleaning work of the traction rope 94 can be completed while adjusting the position of the pressure plate 922. When the traction rope 94 needs to be clamped, the limiting cylinder 932 starts to work. The moving limiting cylinder 932 can drive the slide 933 to move on the mounting base 931. Then the moving slide 933 can drive the sliding rod 934 to move. In turn, the moving sliding rod 934 can drive the drive seat 938 to move within the mounting base 931. Since both the drive seat 938 and the support seat 936 are hexagonal structures and there is a gap between them, when the drive seat 938 starts to rotate, the distance between the protrusion 9373 and the inner wall of the drive seat 938 changes, thereby changing the deformation of the return spring 9372, thus changing the distance between adjacent limiting blocks 9374. This allows the clamping of traction ropes 94 of different sizes to be completed. At the same time, the clamping can reduce the offset of the mounting platform 5 and ensure the smooth progress of the measurement work.
[0039] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and all such equivalent transformations fall within the protection scope of the present invention.
Claims
1. An underwater shock wave multi-point linear measurement device, characterized in that, include: The mounting platform (5) is equipped with a variety of sensors and a repeater (4) located on the mounting platform (5) and electrically connected to the sensors. The submersible device (2) is detachably connected to the mounting platform (5) and is used to adjust the position of the mounting platform (5); A traction unit (9) is installed on the submersible device (2) for connecting the installation platform (5) to the submersible device (2); The installation platform (5) includes a support platform (51) connected to the traction unit (9), a horizontal displacement device (52) disposed on the support platform (51), an adjustment plate (53) connected to the horizontal displacement device (52), a movable component (56) disposed on the adjustment plate (53), and a test surface (54) connected to the movable component (56). The test surface (54) is concave, and the movable component (56) is used to adjust the angle between the test surface (54) and the mounting platform (5) to change the facing area between the test surface (54) and the explosion source (1). The movable component (56) includes a base (561) fixedly mounted on the adjustment plate (53), a second universal ball (567) movably connected to the base (561), a swing rod (563) connected to the second universal ball (567), a first universal ball (564) symmetrically arranged at both ends of the swing rod (563), a connecting seat (565) movably connected to the first universal ball (564), and a drive unit movably connected to one of the connecting seats (565). The test surface (54) is movably connected to another connector (565); The swing arm (563) is shaped like a rugby ball; The drive unit includes a rotary motor (562) fixedly mounted on the base (561), a rocker arm (566) connected to the output end of the rotary motor (562), and a through hole opened on the base (561) for the rocker arm (566) to pass through. There is an angle between the line connecting the two rotary motors (562) and the first omnidirectional ball (564), so that the rocker arm (566) can make the swing arm (563) move with the second omnidirectional ball (567), thereby driving the test surface (54) to move and changing the angle between the test surface (54) and the mounting platform (5).
2. An underwater shock wave multi-point linear measurement device according to claim 1, characterized in that: The installation platform (5) is also provided with an adjustment component (55); the adjustment component (55) is connected to the sensor; The adjustment assembly (55) includes an adjustment motor (551) fixedly mounted on the support platform (51), an adjustment gear (553) connected to the output end of the adjustment motor (551), a limiting tube (552) located on the support platform (51), a first rack (554) meshing with the adjustment gear (553) and located in the limiting tube (552), a moving tube (555) connected to one end of the first rack (554), a movable seat (557) connected to one end of the moving tube (555), and a plurality of cross arms (556) for connecting the movable seat (557) and the limiting tube (552).
3. The underwater shock wave multi-point linear measurement device according to claim 2, characterized in that: The traction unit (9) includes a mounting frame (91) fixedly mounted on the submersible device (2), an adjustment part (92) fixedly connected to the mounting frame (91), two limiting parts (93) respectively provided on the mounting frame (91) and the adjustment part (92), and a traction rope (94) for connecting the submersible device (2) and the mounting platform (5). The adjustment unit (92) includes two telescopic cylinders (921) fixedly installed on the mounting frame (91), a pressure plate (922) for connecting the output end of the telescopic cylinders (921), a plurality of L-shaped slide rails (923) evenly arranged in the mounting frame (91), a second rack (924) slidably connected to the slide rails (923), an adjustment spring (925) for connecting the second rack (924) and the slide rails (923), a plurality of transmission gears (926) arranged on the slide rails (923) meshing with the second rack (924), a drive shaft connected to the transmission gears (926) and passing through the slide rails (923), a brush connected to the drive shaft, and an adjustment roller (927) arranged at the top of the second rack (924). The adjusting roller (927) abuts against the pressure plate (922).
4. The underwater shock wave multi-point linear measurement device according to claim 3, characterized in that: The limiting part (93) includes a mounting base (931) fixedly mounted on the pressure plate (922), a slide block (933) slidably connected to the mounting base (931), a limiting cylinder (932) connected to the slide block (933) and disposed in the pressure plate (922), two sliding rods (934) symmetrically disposed on the slide block (933), two limiting covers (935) fixedly connected to the mounting base (931), a support base (936) located between the two limiting covers (935), a plurality of limiting members (937) evenly disposed on the support base (936), and a drive seat (938) connected to the sliding rods (934) and located in the mounting base (931). The mounting base (931) is provided with a groove for placing the drive base (938), and the drive base (938) and the support base (936) are polygonal structures; The limiting cover (935) is provided with a through hole, and the mounting base (931) is also provided with an arc-shaped limiting hole. The movement of the sliding rod (934) drives the drive base (938) to move, thereby changing the distance between the limiting members (937) and limiting the traction rope (94).
5. The underwater shock wave multi-point linear measurement device according to claim 4, characterized in that: The limiting member (937) includes an adjusting rod (9371) that passes through the support base (936), a mushroom-shaped protrusion (9373) at one end of the adjusting rod (9371), a limiting block (9374) at the other end of the adjusting rod (9371), and a return spring (9372) for connecting the support base (936) and the protrusion (9373).
6. An adaptive method, implemented based on the underwater shock wave multi-point linear measurement device according to any one of claims 1 to 5, characterized in that, Includes the following steps: S1: The original signal of the shock wave is acquired by the set sensor, and the acquired signal is processed to output the relevant characteristic parameters of the effective shock wave. S2: By taking the location of the explosion source (1) as the origin and establishing a corresponding coordinate system, and then calculating the rebound trajectory of the explosion products in the test surface (54) and the displacement of the installation platform (5) according to the relevant characteristic parameters of the effective shock wave in step S1, the real-time distance between the sensor and the explosion source (1) is corrected based on the calculation results, the peak value of the shock wave pressure is recalculated, and finally the value of the shock wave is calibrated. S3: Finally, based on the recalculated peak shock wave pressure and the displacement of the installation platform (5) in step S2, the data is input into the PID controller, thereby adjusting the position of the installation platform (5) through the PID controller to maintain the relative stillness between the installation platform (5) and the explosion source (1) and improve the signal acquisition accuracy in the subsequent step S1.
7. The adaptive method according to claim 6, characterized in that, Step S1 also includes the following steps: S11: Obtain the original signal of the shock wave during the underwater explosion, then use the moving average method to eliminate the baseline drift of the signal, and then filter the drifted signal to obtain the preliminary filtered signal. S12: By extracting the time domain features and corresponding frequency domain features from the preliminary filtered signal in S11, and marking the signal segments that conform to the characteristics of the shock wave, then calculating the relevant information in the preliminary filtered signal, and finally marking the interference signal segments that conform to the secondary shock wave formed after the explosion shock wave is reflected by the test surface (54) and the vibration generated by the rebound of the explosion products in the test surface (54), that is, marking the concave surface emission wave, so as to obtain the feature marking signal; S13: The feature-labeled signal is decomposed using a wavelet basis, and different thresholds are applied to different frequency bands based on the feature labeling information in the feature-labeled signal. Combined with the concave surface emission wave labeled in the feature-labeled signal, the concave surface emission wave is verified based on the time difference between the concave surface emission waves collected by different sensors, thereby reducing residual reflected wave interference, reconstructing the feature-labeled signal, and thus obtaining an effective shock wave signal. S14: Extract the time-domain peak value of the acquired effective shock wave signal, determine the effective time interval of the effective shock wave signal, calculate the effective shock wave impulse, and finally output the characteristic parameters of the effective shock wave.
8. The adaptive method according to claim 7, characterized in that, Step S2 also includes the following steps: S21: Obtain the location of the explosion source (1) and establish the corresponding three-dimensional coordinate system. Then set the test surface (54) as a spherical part and then obtain the concave sphere center and radius of curvature of the test surface (54) to delineate the effective collision area of the test surface (54). S22: The initial position and velocity of the explosion products generated when the explosion source (1) explodes are obtained by the set sensors. The time and position of the first collision between the explosion products and the test surface (54) are solved. The rebound trajectory and number of rebounds of the explosion products in the test surface (54) are calculated iteratively through the corresponding elastic collision theory until the explosion products leave the effective collision area of the test surface (54). S23: By decomposing the collision force generated when the explosion products collide with the test surface (54) each time, and combining the collision time series, the collision force is accumulated by superposition and combined with the water flow wave load, thereby constructing the three-dimensional displacement dynamic equation of the installation platform (5) and solving the actual displacement of the installation platform (5); S24: Finally, by obtaining the real-time distance between the sensor and the explosion source (1) through the displacement correction sensor of the installation platform (5) corresponding to the sensor, the value of the shock wave is recalculated, thereby eliminating the calculation error caused by displacement.