JPH0476411A - Ultrasonic type underwater stuff - Google Patents

Abstract

PURPOSE:To simply measure a distance in the water by operating a depth difference between child and parent stations from the depth of the child station, obtained from the responsive signal of a transmitting-receiving means, and the depth of the parent station obtained with a depth measuring means, and calculating a horizontal distance between both the stations from a depth difference and a direct distance. CONSTITUTION:Parent and child stations 50 and 100 are vertically stood at points desired to be measured respectively by two divers, and an ultrasonic wave U1 is transmitted from the transmitting-receiving means 51 of the parent station 50. When the ultrasonic wave U1 is received with the transmitting and receiving means 101 of the child station 100, an ultrasonic wave U2 is transmitted as a responsive signal from the means 101 in response to the receive of the ultrasonic wave U1 by controlling a control means. When the ultrasonic wave U2 is received with the means 51, a time, required to propagate the ultrasonic wave between both the stations, is determined based on a time required from the point of time when the ultrasonic wave U1 is transmitted to the point of time when the ultrasonic wave U2 is received, with an operation means, and a direct distance L between the parent and child stations 50 and 100 is operated from the propagated time. Also a horizontal distance H between both the stations is operated from a depth difference ¦D1 - D2¦ between the depth D2 of the child station 100 obtained from the responsive signal and the depth D1 of the parent station 50 obtained from a depth measuring means, and a direct distance L, and is displayed 53.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a device for measuring the distance between two points underwater, and in particular to an ultrasonic underwater staff formed into a rod shape so that measurement can be easily performed. .

[Prior Art] In recent years, marine civil engineering work has become more and more popular, and as a result, underwater distance measurements may require the same degree of accuracy as measurements on land. However, in the past, when measuring the distance between two points underwater, it was generally done by a diver using a tape measure, or by using a rod-shaped measuring aid (called a staff) underwater, which is used for distance measurements on land. There is a method of measuring the distance between the parts of the staff that protrude above the water surface by sticking them at two points using a transit, etc., but with the former measurement method, the water is cloudy in the construction area. It becomes difficult to measure when the distance is long or when the measurement distance is long, and the horizontal distance cannot be obtained when there is a height difference between the two measurement points. It is difficult, and the measurement accuracy is low in any measurement method (and the work efficiency is also low because it is time-consuming).

In order to solve these problems, an underwater distance measuring device using ultrasonic signals has been proposed. For example, in Japanese Patent Application Laid-Open No. 51-135675, a master oscillator M and a slave oscillator S are placed between two points to be measured as shown in FIG. As shown, when the ultrasonic pulse P1 is oscillated,
One hour after this pulse P propagates through the water, as shown in Fig. 9 (
As shown in b), when the wave is received by the slave oscillator S,
The cono slave oscillator S immediately oscillates a pulse P. On the other hand, in receiver R installed at another location, the 9th
As shown in Figure (C), these pulses PP are received, and by measuring the time difference T between the pulses P and P, the distance between the master oscillator M and the slave oscillator S can be determined. .

According to Special Publication No. 55-70763, as shown in FIG.
1 is received by the servo beacon 83, the servo beacon 83 immediately oscillates an ultrasonic signal Sl. From the time from when the control beacon 82 oscillates the signal S until it receives the signal S from the servo beacon 83,
The distance between the control beacon 82 and the servo beacon 83 is determined by distance measurement [81].

[Problems to be Solved by the Invention] However, the main body measuring section and distance measuring device 8 of the receiver R described above
Method 1 has the disadvantage that it takes time to measure because it needs to be loaded onto a measurement vessel, etc. that is separate from the measurement location via another cable, and is not suitable for cases where divers are working while measuring distance. Met.

This invention was made to eliminate the above-mentioned problems, and an object thereof is to provide an ultrasonic underwater staff that can easily measure distance underwater.

[Means for Solving the Problems] As shown in FIG. 1, the ultrasonic underwater staff of the present invention has a horizontal path lIH between a master station 50° and a slave station 100' provided at two points underwater. This is an ultrasonic underwater staff for measuring, and the master station 50' includes a depth measuring means (not shown) for measuring the depth of the master station 50', and a wave transmitting/receiving means 51' for transmitting and receiving the ultrasonic wave U1. , from the wave transmitting/receiving means 51 to the slave station 100'
As a result of the wave transmission to the slave station 100', the direct distance between the two stations is calculated from the reception timing of the response signal transmitted from the slave station 100', and the depth of the slave station 100° obtained from the response signal is calculated. , calculates the depth difference ID, -D, l between the two stations from the depth D1 of the master station measured by the depth measuring means, and calculates the depth difference ID,
-D, l and the direct distance from each other, and a display means 53' for displaying the distance calculated by the calculation means. station 1
00' indicates a depth measuring means (not shown) for measuring the depth of the slave station 100', a wave transmitting/receiving means 101° for transmitting and receiving ultrasonic waves U, and an ultrasonic wave transmitted from the master station 50°. When the wave transmitting/receiving means 51'' receives U1, this ultrasonic wave U1
the depth measured by the depth measuring means in response to the received wave;
control means (not shown) for transmitting ultrasonic waves Ut from the wave transmitting/receiving means 101' to the master station using the information as a response signal.

In addition, in order to enable measurement as a master station from any of the stations of the ultrasonic underwater staff installed at two points underwater, as in claim 3, the master station of claim 1 is connected to the slave station of claim 2. All you need to do is add a response function.

[Operation] A human diver places the master station 50' and the slave station 100 almost vertically at the point to be measured.
Ultrasonic waves are transmitted from the 0° wave transmitting/receiving means 51'. When this ultrasonic wave is received by the wave transmitting/receiving means 101' of the slave station 100', under the control of the control means, the ultrasonic wave is transmitted as a response signal from the wave transmitting/receiving means 101' in response to the reception of the ultrasonic wave U1. U
, is emitted. When this ultrasonic wave U is received by the wave transmitting/receiving means 51' of the master station 50', the calculating means receives the ultrasonic wave U from the slave station 100' from the time when the ultrasonic wave U1 is emitted. Based on the time required for the ultrasonic wave to propagate between the two stations, the time required for the ultrasonic wave to propagate between the two stations is determined, and the direct distance between the master station 50' and the slave station 100° is calculated from this propagation time. At the same time, a depth difference ID, -Dtl between the two stations is calculated from the depth of the slave station 100゛ obtained from the response signal and the depth of the master station measured by the depth measuring means,
The horizontal distance H between both stations is calculated from this depth difference, -D, l, and the direct distance, and is displayed on the display means 53°.

[Embodiment] FIGS. 2 and 3 show front views of a master station 50 and a slave station 100, which are an embodiment of the apparatus of the present invention.

In FIG. 2, the master station 50 has a casing X having an elongated cylindrical body with one end serving as a bottom portion having a conical point. At the top, which is the other end of the housing X, a transducer 51 for transmitting and receiving ultrasonic waves is provided.

The dimensions of this casing 2ff1, and the diameter of the housing X was approximately 5 cm so that it could be easily gripped. 52 is a control circuit that controls the transducer 51 and calculates the distance from the received signal. 53 is a display device for displaying the inclination angle, measurement distance, etc. of the master station 50, and the mounting height from the bottom part , was approximately 150 cm. 54 is a data storage unit that stores measured distances, and stores up to 100 measured distances. 55 is a battery for the control circuit 52. 56 is a measurement button to press during measurement; 57
is a transmission indicator light that lights up for confirmation when ultrasonic waves are transmitted from the transducer 51. 58 is the measurement button 5
The distance measured by the pressing movement of step 3 is stored in the data storage unit 54.
This is a data storage unit for storing data in the . Reference numeral 59 denotes a display button for displaying the measured distances stored in the data storage section 54. Each time the display button 58 is pressed, the measured distances are sequentially displayed along with the measurement number. 60 is a reset button for clearing the data stored in the data storage section 54.

In FIG. 3, slave station 100 also has a housing X having the same dimensions as master station 50, and is equipped with a transducer 101 on the top. 1.
02 is a control circuit that controls the slave station 100;
03 is a battery for the control circuit 102. 104 is provided to display the tilt of the slave station 100,
This is an LED display consisting of five LEDs.Based on the detection of an internal inclination meter, when the slave station 100 tilts more than a predetermined angle to the right side in the figure, for example, the LEDr lights up, and when it tilts backward, it lights up. The LEDs are lit, and the center LED t is only lit when the robot is held in an upright position. This LED display 104 is also provided at approximately the same height as the display 53 in the master station 50. +05 transmits the ultrasonic waves emitted from the master station 50 to the transducer 10 of the slave station 100.
This is a reception indicator light that lights up when a signal is received.

The above-mentioned master station 50 and slave station 100 have an appropriate specific gravity so that they will not float even if they are released from the water, and by providing appropriate buoyancy to the upper part of the housing I try not to collapse completely.

Control block diagrams of the master station 50 and the slave station 100 are shown in FIGS. 4 and 5, respectively, and the same parts are given the same reference numerals.

In FIG. 4, 70 is an inclinometer that detects the inclination of the master station 50. In FIG. 71 is a trigger generation circuit that generates a trigger for starting transmission, and when the measurement button 56 is pressed, a detection signal from the inclinometer 70 indicates that the master station 50 is held within a predetermined inclination angle. As long as the tri-force generating circuit 7
A trigger is output from 1. 72 is the tri-force generating circuit 7
73 is a transmitter that amplifies the power of the LFM signal from the LFM signal generation circuit 72; When the transmitter 73 operates, the transmission indicator light 57 lights up. 74 is a transmitter/receiver switch, which transfers the output from the transmitter 73 to the transmitter/receiver 51 during transmission.
During reception, the signal is applied to a receiver 75 that amplifies the signal received by the transducer 51. 76 is a pulse compression circuit that compresses the tailed received signal output from the receiver 75 into pulses to facilitate detection of reception timing. Reference numeral 77 is a timer for measuring the time from the trigger generation time t1 in the trigger generation circuit 71 to the time t when the pulse is output from the pulse compression circuit 76.

Reference numeral 78 denotes a distance calculation unit that calculates the horizontal distance H between both stations, and the content of the calculation will be described in detail later. The display 53 displays the inclination detected by the inclinometer 70 and the water temperature and depth during measurement standby, and displays the measurement data calculated by the distance calculation section 78 during measurement. Display 53
5 for data storage when measurement data is displayed.
If you press 8, the measurement data at this time will be stored in the data storage section 54.
is memorized.

Each of the circuits 70 to 77 is the control circuit 52 in FIG.
In addition, the distance calculating section 78 corresponds to the above calculating means.

Next, the slave station 100 shown in FIG. 5 will be explained.

Reference numeral 110 denotes a transmitter/receiver switch, and during reception standby, the received signal from the transmitter/receiver 101 is inputted to the receiver 111 via the transmitter/receiver switch 110. When a received signal is input to the receiver 111, the reception indicator light 105 lights up and the transmission/reception switch 110 is switched to the transmission state. 112 is
This is a pulse compression circuit that compresses the received signal amplified by the receiver 111 into pulses. 113 is a variable delay circuit, which transmits the pulses from the pulse compression circuit 112 to the depth meter 114.
The delay is performed according to the depth of the slave station 100 measured by the slave station 100, but in order to distinguish this depth information and send it to the master station 50, this delay operation is performed once every two times as described later. function, and the delay time is O in other cases. Note that when measuring depth using the water pressure sensors in the depth gauge 114 and the water temperature/depth gauge 79, the measured depth also changes due to changes in waves, making it impossible to obtain an accurate value, so the depth is averaged. This eliminates the influence of waves. 115 is a trigger generation circuit that generates a trigger for starting transmission, and when the inclination of the slave station 100 is within a predetermined range according to the inclinometer 116, that is, the central LED
Only when the variable delay circuit 113 (shown in FIG. 3) is lit, when a pulse is input from the variable delay circuit 113, a trigger is output from the trigger generation circuit 115. 117 is an LMF signal generation circuit that outputs an LMF signal based on the trigger from the trigger generation circuit 115; 118 is a transmitter that amplifies the power of the LMF signal from the LMF signal generation circuit 117; The output signal of 118 is the transmitter/receiver switch 1]0
The signal is applied to the transducer 101 via the transducer 101.

The operations of the master station 50 and slave station 100 will be described below.

As shown in FIG. 1, when the operator stands the master station 50 and slave station 100 between two points to be measured and turns on the power switch (not shown), the master station 50 displays the display 53.
Since the inclination of the master station 50 is displayed together with the water temperature and depth, the master station 50 is held vertically so that the inclination of the master station 50 is minimal. On the other hand, also in the slave station 100, the LED display 10
Stand it vertically so that the LED in the center of number 4 lights up. When the measurement button 56 of the master station 50 is pressed in this state, ultrasonic waves are transmitted from the transducer 51 of the master station 50 only when the master station 50 is held almost vertically, and the timer 7
7 is started, and the transmission indicator light 57 is also turned on.

When the transmitted ultrasonic wave is received by the transmitter/receiver 101 of the master station 50 and the slave station] O○, the reception indicator light 105 is lit, and the received signal is transmitted to the pulse compression circuit 112. After the pulse is compressed, it is sent to the variable delay circuit 113.

The variable delay circuit 114 initially sets the delay time to O and sends the pulse from the pulse compression circuit 112 to the trigger generation circuit 115. At this time, only when the slave station 100 is held substantially vertically, the trigger generation circuit 115 generates a trigger, so that the slave station 100 transmits an ultrasonic wave as a response signal. When the delay time in the variable delay circuit 113 is O, the time from receiving the ultrasonic wave from the slave station or the master station 50 to transmitting the response signal (response time)
T. shall be.

The ultrasonic wave transmitted as a response signal from the slave station 100 is sent to the master station 5.
The received signal is received by the transmitter/receiver 51 of the transmitter/receiver 74 . The pulse is compressed by the pulse compression circuit 76 via the receiver 75 and sent to the timer 77, so that the timer 77 stops measuring time and starts the pulse compression circuit 76 from the trigger generation time t1 of the trigger generation circuit 71. The time T+ (= t t-t
, > are sent to the distance calculation section 78.

As can be seen from the operation just described, even if you press the measurement button 56 on the master station 50 to ensure accurate measurement, if the two stations are not perpendicular, the wave will not be transmitted, and even if the wave is transmitted, the wave will not be transmitted. If the sound waves are blocked by the person measuring them, they cannot be measured. Therefore, when the measurement button I is pressed once, the trigger generation circuit 71 continuously outputs a trigger at predetermined time intervals.

With this control, the master station 5o outputs ultrasonic waves,
When the ultrasonic waves are received by the slave station 100, the pulses outputted from the pulse compression circuit 112 are transmitted to the slave station 100 measured by the depth gauge 114 in the variable delay circuit 13.
Since the signal is delayed by the delay time TDt corresponding to the depth of 0 and sent to the trigger generation circuit 115, the response time at the slave station 100 at this time is (T o + T D ).

The ultrasonic wave transmitted as a response signal from the slave station 100 at this time is received by the master station 50, and the time measured by the timer 77 at this time is assumed to be T, (>T,).

In this way, the variable delay circuit 113 has a delay time of 0.
and T. 1 are set alternately, so the master station 50 obtains two measured times T, , T. T, -T
, =TD, and this delay time T Dt is
0) Represents fi degrees. Also, T, -T.

is the net propagation time required for the ultrasonic wave to travel the direct distance between the two stations.

The distance calculation unit 78 calculates the underwater propagation velocity V of the ultrasonic wave at the time of measurement based on the water temperature and depth D1 measured by the water temperature/depth meter 79.
X is calculated, and by multiplying this velocity VX by one-way ultrasonic propagation time (T', -T.)/2, the direct distance between the two stations is calculated. Also, the depth obtained from the depth D1 and the delay time T Dt.

From this, the depth difference ID, -D, l between the two stations is calculated, and from this depth difference ID, -D, l and the direct distance, the horizontal distance H between the two stations is calculated using the Pythagorean theorem. Ru.

The measured horizontal distance H1, direct distance, depth DI, depth difference ID, -D, and l are displayed on the display 53.

If the data storage section 58 is pressed in this state, these data are stored in the data storage section 54 along with the data number. The data stored in the data storage section 54 are sequentially displayed in the order of measurement by pressing the display button 59.

Another method for transmitting depth information in the slave station 100 is as follows.
When the slave station 100 receives a signal, it first sends a first pulse with a delay time of 0 (in this case, the response time T,), and then sends a second pulse with a delay time TD corresponding to the depth. The response time is T. +T D, ), the master station could also obtain the direct distance between the two stations from the reception timing of the first pulse, and the depth of the slave station 100 from the first and second pulse intervals. It will be done.

Furthermore, in order to measure the distance simultaneously using two slave stations 100 and one master station 50, it is sufficient to change the frequency of the ultrasonic waves to be transmitted and also to vary the transmission timing.

In the above embodiment, accurate horizontal distance was obtained by detecting the depth difference between the two stations, but this is ignored when there is no altitude difference between the two measurement points or because the depth difference is small. If so, the depth meter 114 and the variable delay circuit 113 are not necessary in the slave station 100, and the calculated direct distance may be set as the horizontal distance 111fH in the master station 50.

Furthermore, in the above embodiment, the ultrasonic underwater staff is divided into the master station 50 and the slave station 100, and measurement is possible only on the master station 50 side. By using two stations, measurements can be made from either station. That is, as shown in FIG. 6, in order to make the master station 50 shown in FIG. 4 function as a slave station, a reception indicator 8I is added to the receiver 75, and the pulse compression circuit 76 A variable delay circuit 81 is added to delay the pulse according to the depth measured by the water temperature/depth gauge 79.
The pulse output from 1 is used as a trigger signal for the trigger generation circuit 71.

In addition, the R323
An interface such as 2C may also be provided.

FIG. 7(A) is another example of the ultrasonic underwater staff shown in FIGS. 2 and 3, in which each control circuit is housed in an upper housing 71, and 72 is a display. It is a display window for the vessel. A transducer 73 is provided at the top of the casing 71, and elongated rod-shaped cylinders 74 and 75 are provided in two stages from the bottom end of the casing 71. This is a pedestal 76 that can be stably held on a soft seabed. A battery is housed in the lower cylinder 75,
By cutting off the upper cylinder 74, the overall length can be shortened as shown in FIG. 7(B).

``Effects of the invention'' As explained above, this invention uses a staff-shaped device for easy handling, and uses ultrasonic waves to measure distance without using a cable to connect both measuring devices. Therefore, it is possible to easily and accurately measure the distance between two points even in places underwater where measurement is difficult.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing how to use the ultrasonic underwater staff of the present invention. FIGS. 2 and 3 are front views showing the appearance of a master station and a slave station showing an embodiment of the present invention. 4 and 5 are control block diagrams of the master station and slave station in FIGS. 2 and 3. FIG. 6 is a control block diagram of an ultrasonic underwater staff having another configuration of the present invention. Figures 7 (A) and 7 (B) are diagrams showing the external appearance of an ultrasonic underwater staff in another form, Figure 8 is a schematic configuration diagram of a conventional underwater distance measuring device, and Figure 9 is , a time chart showing the operation of the device shown in FIG. 8. FIG. 10 is a diagram showing a schematic configuration of another conventional underwater distance measuring device. 81.113 - Variable delay circuit, 104... LED display. 5Q... Master station, 10 Misaki... Slave station, 51.101... Transducer/receiver, 52.102... Control circuit, 53... Display, 54... Data storage unit, 55.1
03...Battery, 56...Measurement button, 57...Transmission indicator light, 58...Data storage section, 59.Display button, 60.
Reset button, 70.116... Inclinometer, 71.115... Trigger generation circuit, 72.117... LMF signal generation circuit, 73.118
・Transmitter, 74.110...Transmission/reception switching, 75.111...Receiver, 76.112...Pulse compression circuit, 77...Timer, 78...Distance calculation section, 79...Water temperature/depth Total, 80.105...Reception indicator light,

Claims (6)

[Claims] (1) An ultrasonic underwater staff that measures the horizontal distance between a master station and a slave station installed at two points underwater. a wave transmitting/receiving means for transmitting and receiving waves; and as a result of the wave transmission from the wave transmitting/receiving means to the slave station, the direct distance between the two stations is calculated from the reception timing of a response signal transmitted from the slave station, and A depth difference between the two stations is calculated from the depth of the slave station obtained from the signal and the depth of the master station measured by the depth measuring means, and a horizontal distance between the two stations is calculated from the depth difference and the direct distance. An ultrasonic underwater staff comprising a calculation means and a display means for displaying the distance calculated by the calculation means. (2) An ultrasonic underwater staff that measures the horizontal distance between a master station and a slave station installed at two points underwater. a wave transmitting/receiving means for transmitting and receiving ultrasonic waves, and when said wave transmitting/receiving means receives ultrasonic waves transmitted from a master station, in response to the reception of said ultrasonic waves, responds with information on the depth measured by said depth measuring means. An ultrasonic underwater staff characterized by comprising: control means for transmitting ultrasonic waves from the wave transmitting/receiving means to a master station as a signal. (3) An ultrasonic underwater staff that is installed at two points underwater to measure the distance between the two points, comprising a depth measuring means for measuring the depth of the staff, a wave transmitting/receiving means for transmitting and receiving ultrasonic waves, and the transmitting/receiving means for transmitting and receiving ultrasonic waves. As a result of wave transmission from the wave means to another staff as a response station, the direct distance to the other staff is calculated from the response signal transmitted by the other staff, and the direct distance of the other staff obtained from the response signal is calculated. a calculation means for calculating a depth difference between the staff and another staff from the depth and the depth measured by the depth measuring means of the staff, and calculating a horizontal distance between the staff and the other staff from the depth difference and the direct distance; and a display means for displaying the distance calculated by the calculation means, and when the staff member is used as a response station, when the staff member's wave transmitting/receiving means receives an ultrasonic wave transmitted from another staff member, An ultrasonic staff characterized in that, in response to reception of ultrasonic waves, depth information measured by a depth measuring means of the staff is transmitted as a response signal from the wave transmitting/receiving means to other staff members. (4) The slave station or response station outputs a response signal in response to reception of a transmission signal from another station, and has a delay time corresponding to the depth measured by the depth measurement means at the next reception timing. The underwater staff according to any one of claims 1 to 3, which outputs a response signal afterwards. (5) Any one of claims 1 to 4, further comprising inclination detection means for detecting the inclination of the casing, and allowing measurement only when the casing is maintained substantially vertically as determined by the detection by the inclination detection means. Ultrasonic underwater staff described. (6) A claim that has a cylindrical casing with a diameter that can be grasped and a length that exceeds a person's height, the casing has a tapered lower end, and the above-mentioned wave transmitting/receiving means is provided at the upper end. The ultrasonic underwater staff according to any one of Items 1 to 5.