CN108828604A - It seeks fish system and seeks the underwater scanning detection method of fish system using this - Google Patents
It seeks fish system and seeks the underwater scanning detection method of fish system using this Download PDFInfo
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- CN108828604A CN108828604A CN201810549613.9A CN201810549613A CN108828604A CN 108828604 A CN108828604 A CN 108828604A CN 201810549613 A CN201810549613 A CN 201810549613A CN 108828604 A CN108828604 A CN 108828604A
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- fish device
- seeking
- fish
- reference frame
- submarine target
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 121
- 238000001514 detection method Methods 0.000 title claims abstract description 19
- 238000009987 spinning Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/96—Sonar systems specially adapted for specific applications for locating fish
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/534—Details of non-pulse systems
- G01S7/536—Extracting wanted echo signals
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses one kind to seek fish system and underwater scanning detection method.Seeking fish system includes seeking fish device, computing unit and converting unit.Seeking fish device includes sonar transmitting-receiving energy converter and attitude transducer, and sonar transmitting-receiving energy converter is for emitting ultrasonic signal and receiving ultrasonic echo signal；Attitude transducer is used to measure the 3 d pose bearing data for currently seeking fish device.Computing unit is used to calculate submarine target to the distance for seeking fish device according to ultrasonic echo signal, and determines submarine target in the coordinate value sought in the first reference frame of fish device itself.Converting unit converts submarine target to the coordinate value to seek in topocentric coordinate system of the fish device into origin in the coordinate value in the first reference frame for carrying out coordinate system conversion.The present invention can obtain the accurate location and directional information of submarine target in real time.
Description
Technical field
The present invention relates to underwater position fixing technique field more particularly to a kind of seek fish system and seek the underwater of fish system using this
Scanning detection method.
Background technique
Seeking fish device is a kind of auxiliary accessories for watching the movement pattern of fish, is suitable for fishing fan and jacklighter in rivers, Hu Hai etc.
Place fishing and fishing.It seeks fish device and can be convenient go fishing fan and jacklighter of ground head of a secret society and judge whose depth, fish or the shoal of fish
Number and the information such as depth.
The fish device of seeking of the prior art is using sonar technology direct detection and to identify the object and water-bed profile in water.Sound
Sensor issues acoustic signals, can reflect after encountering object, may determine that sound according to reflection interval and echo-signal
Sensor, which detects, whether there is the shoal of fish within the scope of cone angle.However, existing fish device of seeking has the following defects：
Firstly, it is existing seek fish device majority be single sonar sensor, can only judge the shoal of fish whether within the scope of cone angle, and
Specific directional information within the scope of cone angle cannot be given at.Secondly, the pendulum of ultrasonic wave can be caused with the fluctuation of the water surface by seeking fish device
It is dynamic, to expand the deviation of detection.Again, it is existing seek fish device be using maximum acoustic echo point as water-bed depth value, cannot
The water-bed real terrain of reflection rises and falls.
Therefore, it is necessary to propose it is a kind of it is novel seek fish system and seek the underwater scanning detection method of fish system using this,
To meet the requirement for seeking fish convenience and accuracy.
Summary of the invention
It is a primary object of the present invention to overcome the deficiencies of existing technologies, provide that a kind of high-precision seeks fish system and application should
Seek the underwater scanning detection method of fish system.
To reach above-mentioned purpose, the present invention provides one kind to seek fish system, including seeks fish device, computing unit and conversion list
Member.Wherein seeking fish device includes sonar transmitting-receiving energy converter and attitude transducer, and wherein sonar transmitting-receiving energy converter is for emitting ultrasonic wave
Signal and reception ultrasonic echo signal；Attitude transducer is for measuring the presently described 3 d pose orientation number for seeking fish device
According to.Computing unit, which is used to receive and dispatch the received ultrasonic echo signal of energy converter according to the sonar, calculates submarine target to described
The distance of fish device is sought, and determines coordinate value of the submarine target in the first reference frame；First reference frame
Using it is described seek fish device as origin, using the submarine target to the line for seeking fish device as z-axis；Converting unit is used for the water
Coordinate value of the lower target in first reference frame is converted to the second reference frame to be existed with obtaining the submarine target
Coordinate value in second reference frame, wherein second reference frame is using the station heart for seeking fish device as origin
Coordinate system.
Preferably, the fish system of seeking further includes rotary drive unit, described seeks fish device spinning for driving.
Preferably, the fish device of seeking further includes that frequency adjusts unit, is issued for changing sonar transmitting-receiving energy converter
The frequency of ultrasonic signal.
Preferably, the fish system of seeking further includes：Driving unit described seeks fish device within a time cycle for driving
Repeatedly transmitting ultrasonic signal；The computing unit receives and dispatches the received multiple ultrasonic echo signals of energy converter according to the sonar
Strength co-mputation go out submarine target to the distance for seeking fish device, and determine the submarine target in the first reference frame
Coordinate value.
Preferably, the fish system of seeking further includes wireless transmission unit, for by the 3 d pose orientation for seeking fish device
The coordinate value of data and the submarine target in second reference frame is sent to distal displayed screen.
According to another aspect of the present invention, additionally provide it is a kind of using the above-mentioned underwater scanning detection method for seeking fish system,
Include the following steps：
Emit ultrasonic signal and receives ultrasonic echo signal；
The 3 d pose bearing data of fish device is sought described in measurement；
Ultrasonic echo signal calculates submarine target to the distance for seeking fish device based on the received, and determines the water
Coordinate value of the lower target in the first reference frame；First reference frame using it is described seek fish device as origin, with described
Submarine target to the line for seeking fish device is z-axis；And
Coordinate value of the submarine target in first reference frame is converted to the second reference frame to obtain
To coordinate value of the submarine target in second reference frame, wherein second reference frame is sought with described
Fish device is the topocentric coordinate system of origin.
Preferably, the underwater scanning detection method further includes seeking the spinning of fish device described in driving to emit in different directions
Ultrasonic signal.
Preferably, the underwater scanning detection method further includes：
Repeatedly emit ultrasonic signal within a time cycle；
The Strength co-mputation of multiple ultrasonic echo signals goes out submarine target to the distance for seeking fish device based on the received, and
Determine coordinate value of the submarine target in the first reference frame.
Preferably, the underwater scanning detection method further includes by the 3 d pose bearing data for seeking fish device and described
Coordinate value of the submarine target in second reference frame is sent to distal displayed screen.
Compared to the prior art, provided by the invention to seek fish system, it can be obtained in real time by joined attitude transducer
The distance and directional information of submarine target, so that it is determined that the accurate location of submarine target.In addition, the present invention is sought only using one
In the case where fish device, sweeping under water for degree of precision can be realized by changing to seek fish device posture and/or change sonar operating frequency
It retouches.
Detailed description of the invention
Fig. 1 show the block diagram for seeking fish system of one embodiment of the invention；
The sonar transmitting-receiving energy converter for seeking fish device that Fig. 2 and Fig. 3 show one embodiment of the invention works in different frequency
Schematic diagram；
Fig. 4 show first reference frame of one embodiment of the invention and the schematic diagram of the second reference frame；
Fig. 5 show the flow chart of the underwater scanning detection method of one embodiment of the invention.
Specific embodiment
To keep the contents of the present invention more clear and easy to understand, below in conjunction with Figure of description, the contents of the present invention are made into one
Walk explanation.Certainly the invention is not limited to the specific embodiment, general replacement known to those skilled in the art
It is included within the scope of protection of the present invention.
In the description of the present invention unless specifically defined or limited otherwise, belong to " installation ", " connection " should do broad sense reason
Solution may be a detachable connection or integrally connected for example, it may be fixedly connected；It can be mechanical connection, be also possible to
Electrical connection.To those skilled in the art, it can understand as the case may be and above-mentioned belong in the present invention specific
Meaning.
Fig. 1 show the block diagram for seeking fish system of the invention, as shown, fish system of seeking of the invention is sought including one
Fish device 1, computing unit 2 and converting unit 3.Wherein, seeking fish device 1 includes sonar transmitting-receiving energy converter 11 and attitude transducer 12.
It is the important component for seeking fish device 1 that sonar, which receives and dispatches energy converter 11, for transmitting and receiving ultrasonic echo signal.This reality
It applies in example, it is that active sonar receives and dispatches energy converter that sonar, which receives and dispatches energy converter,.Sonar transducer includes circular piezoelectric material, with specific
Frequency vibration generates ultrasonic wave.It is well known that ultrasonic wave has good directive property, beam of sound can concentrate on specific direction.?
In the case that circular piezoelectric material radius is constant, frequency is higher, and directive property angle of release is smaller.Fig. 2 is referred to, preferably, this implementation
In example, sonar transmitting-receiving energy converter 11 can work and have biggish wave beam angle of release (101) in multiple Frequency points, low frequency；High frequency
When angle of release become smaller (102).To realize that sonar transmitting-receiving energy converter working frequency is adjustable, fish device of seeking of the invention may also include a frequency
Rate adjusts unit, is applied to sonar transducer after the processing such as being used to generate the signal of different frequency and carrying out analog-to-digital conversion amplification
Piezoelectric material on, finally ultrasonic wave is launched by sonar transducer.In this way, which user can adjust ultrasound according to demand
The angle of release range of wave wave beam.Fig. 3 is referred to, in another preferred embodiment of the present invention, seeking fish system further includes a rotation
Driving unit seeks the progress spinning campaign of fish device for driving.Fish device is sought in spinning motion process, according to its angle of release size
The sonar scanning of round (200) or annular (201), the underwater scan range detection of further expansion may be implemented.
After sonar receives and dispatches the sending ultrasonic signal of energy converter 11, start to receive the ultrasonic echo returned by submarine target
Then signal is converted into electric signal and is sent to computing unit 2.Computing unit 2 is according to ultrasonic wave two-way time difference and returns
Wave signal characteristic calculates the distance value for seeking fish device to submarine target.Existing active sonar telemetry pair can be used in computing unit
The ultrasonic echo signal received is handled to obtain distance value, is no longer separately repeated herein.It is emphasized that calculating single
Member 2 is calculating submarine target to after seeking the distance of fish device 1 according to the sonar transmitting-receiving received ultrasonic echo signal of energy converter 11,
Further determine coordinate value of the submarine target in the first reference frame.First reference frame mentioned here refers to
Using seek fish device as origin, using submarine target to coordinate system of the line as z-axis for seeking fish device, wherein positive for z-axis upwards.It please refers to
Fig. 4, the first coordinate system are XyYyZy coordinate system, seek fish device and are located at coordinate origin Oy.Submarine target is in the first reference frame
Coordinate value be (0,0, L), L here is negative value.Preferably, seeking fish system may also include a driving list in the present embodiment
Member seeks fish device within a time cycle and repeatedly emits ultrasonic signal for driving.For example, in 1 second interior transmitting 20 times it is super
Acoustic signals.Since the time cycle is very of short duration, it is believed that seeking fish device, there is no change in displacement within the time cycle.It is right
In the ultrasonic signal emitted every time, there is a corresponding echo-signal.It can consider when echo signal intensity is most strong underwater
Target is located at the central axes of ultrasound beamformer, is thus assured that out the z-axis of the first reference frame.Therefore, computing unit
According to each sonar receive and dispatch the received ultrasonic echo signal of energy converter intensity come calculate submarine target to seek fish device away from
From.Specifically the selection maximum ultrasonic echo signal of signal strength carries out signal processing to it and obtains the distance of submarine target
The coordinate value of value and submarine target in the first referential.
Please continue to refer to Fig. 1 and Fig. 4, compared with prior art, fish device of seeking of the invention further comprises attitude transducer 12,
Attitude transducer can also become (referred to as) Inertial Measurement Unit (Inertial Measurement Unit, abbreviation IMU),
Built-in acceleration meter, gyroscope and geomagnetic sensor, can be in the case where not needing additional reference using based on quaternary number
Three-dimensional algorithm and special data integration technology export the zero shift 3 d pose orientation number indicated with quaternary number, Eulerian angles in real time
According to.Since attitude transducer output 3 d pose bearing data is the prior art, no longer separately repeated in the application.The present embodiment
In, to export quaternary number as q0, q1, q2 and q3 are described further subsequent coordinates conversion.
Converting unit 3 receives coordinate value and posture of the submarine target of computing unit output in the first reference frame
Fish device 3 d pose bearing data (with quaternary number q0, q1, q2 and q3 expression) is sought in sensor output, and submarine target exists later
Coordinate value in first reference frame is converted to the second reference frame to obtain submarine target in the second reference frame
Coordinate value.Second reference frame mentioned here be to seek fish device as the topocentric coordinate system of origin, that is, seek fish device be origin,
Be positive (day to z-axis) upwards, and y-axis is overlapped (north orientation) with semiminor axis of ellipsoid, and x-axis is overlapped (east orientation) institute with the major semiaxis of earth ellipsoid
The rectangular coordinate system of composition.Refer to Fig. 4, the second reference frame is indicated with XbYbZb, seek origin Ob where fish device with
The origin Oy of first reference frame is overlapped.The coordinate value of submarine target is transformed into the second reference frame by converting unit 3,
Obtain new coordinate value Rb：
Thus, it is possible to determine submarine target relative to the direction and coordinate for currently seeking fish device.As can be observed from the foregoing, of the invention
Seek fish system, even if seeking fish device with water level fluctuation run-off the straight or swing, it is accurate submarine target can also to be obtained in real time
Azimuth information.
Preferably, seeking further includes wireless transmission unit in fish device 1, wireless transmission unit can will seek the 3 d pose side of fish device
The coordinate value of position data and submarine target in the second reference frame is sent to distal displayed screen, such as the display of mobile phone or computer
On screen, referred to for staff.
Referring to FIG. 5, the present invention also provides a kind of applied to the above-mentioned undersea detection scan method for seeking fish system, packet
Include following steps：
S1：Emit ultrasonic signal and receives ultrasonic echo signal；
S2：The 3 d pose bearing data of fish device is sought in measurement；
S3：Ultrasonic echo signal calculates submarine target to the distance for seeking fish device based on the received, and determines underwater mesh
The coordinate value being marked in the first reference frame；First reference frame is to seek fish device as origin, with submarine target to seeking
The line of fish device is z-axis；And
S4：Coordinate value of the submarine target in the first reference frame is converted to the second reference frame underwater to obtain
Coordinate value of the target in the second reference frame, wherein second reference frame is to be sat using seeking fish device as the station heart of origin
Mark system.
Preferably, repeatedly emitting ultrasonic signal in step S1 within an of short duration time cycle, connect in step S3
In the multiple ultrasonic echo signals received, submarine target is calculated according to the ultrasonic echo signal of maximum intensity to seeking fish device
Distance, so that it is determined that coordinate value of the submarine target in the first reference frame.
In addition, can also drive during entire underwater scanning probe and seek the spinning of fish device to emit in different directions
Ultrasonic signal, the range of further expansion scanning probe.
In conclusion of the invention seeks fish system, submarine target can be obtained in real time by joined attitude transducer
Distance and directional information, so that it is determined that the accurate location of submarine target.In addition, the present invention is the case where only using one and seeking fish device
Under, it can be realized as the underwater scanning of degree of precision by changing to seek fish device posture and/or change sonar operating frequency.
Although the present invention is disclosed as above with preferred embodiment, right many embodiments are illustrated only for the purposes of explanation
, it is not intended to limit the invention, those skilled in the art can make without departing from the spirit and scope of the present invention
Several changes and retouches, and the protection scope that the present invention is advocated should be subject to described in claims.
Claims (9)
1. one kind seeks fish system, which is characterized in that including：
Seek fish device comprising：
Sonar receives and dispatches energy converter, for emitting ultrasonic signal and receiving ultrasonic echo signal；
Attitude transducer, for measuring the presently described 3 d pose bearing data for seeking fish device；
Computing unit calculates submarine target to institute for receiving and dispatching the received ultrasonic echo signal of energy converter according to the sonar
The distance for seeking fish device is stated, and determines coordinate value of the submarine target in the first reference frame；First reference coordinate
System using it is described seek fish device as origin, using the submarine target to the line for seeking fish device as z-axis；
Converting unit, for converting coordinate value of the submarine target in first reference frame to second with reference to seat
Mark system is to obtain coordinate value of the submarine target in second reference frame, wherein second reference frame is
Using the fish device of seeking as the topocentric coordinate system of origin.
2. according to claim 1 seek fish system, which is characterized in that further include：
Rotary drive unit described seeks fish device spinning for driving.
3. according to claim 2 seek fish system, which is characterized in that the fish device of seeking further includes that frequency adjusts unit, is used
In the frequency for changing the ultrasonic signal that the sonar transmitting-receiving energy converter issues.
4. according to claim 3 seek fish system, which is characterized in that further include：
Driving unit described seek fish device within a time cycle and repeatedly emits ultrasonic signal for driving；
The computing unit is discharged according to the Strength co-mputation that the sonar receives and dispatches the received multiple ultrasonic echo signals of energy converter
Lower target determines coordinate value of the submarine target in the first reference frame to the distance for seeking fish device.
5. according to claim 1 seek fish system, which is characterized in that further include wireless transmission unit, for being sought described
Coordinate value of the 3 d pose bearing data and the submarine target of fish device in second reference frame is sent to distal end
Display screen.
6. a kind of using the underwater scanning detection method described in claim 1 for seeking fish system, which is characterized in that including following step
Suddenly：
Emit ultrasonic signal and receives ultrasonic echo signal；
The 3 d pose bearing data of fish device is sought described in measurement；
Ultrasonic echo signal calculates submarine target to the distance for seeking fish device based on the received, and determines the underwater mesh
The coordinate value being marked in the first reference frame；First reference frame using it is described seek fish device as origin, with described underwater
Target to the line for seeking fish device is z-axis；And
Coordinate value of the submarine target in first reference frame is converted to the second reference frame to obtain
Coordinate value of the submarine target in second reference frame is stated, wherein second reference frame is to seek fish device with described
For the topocentric coordinate system of origin.
7. underwater scanning detection method according to claim 6, which is characterized in that further include seeking the spin of fish device described in driving
Turn to emit ultrasonic signal in different directions.
8. underwater scanning detection method according to claim 6, which is characterized in that further include：
Repeatedly emit ultrasonic signal within a time cycle；
The Strength co-mputation of multiple ultrasonic echo signals goes out submarine target to the distance for seeking fish device based on the received, and determines
Coordinate value of the submarine target in the first reference frame.
9. underwater scanning detection method according to claim 6, which is characterized in that further include by the three-dimensional for seeking fish device
The coordinate value of attitude orientation data and the submarine target in second reference frame is sent to distal displayed screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810549613.9A CN108828604A (en) | 2018-05-31 | 2018-05-31 | It seeks fish system and seeks the underwater scanning detection method of fish system using this |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810549613.9A CN108828604A (en) | 2018-05-31 | 2018-05-31 | It seeks fish system and seeks the underwater scanning detection method of fish system using this |
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| Publication Number | Publication Date |
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| CN108828604A true CN108828604A (en) | 2018-11-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810549613.9A Pending CN108828604A (en) | 2018-05-31 | 2018-05-31 | It seeks fish system and seeks the underwater scanning detection method of fish system using this |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2576821A (en) * | 2018-07-31 | 2020-03-04 | Furuno Electric Co | Echo signal processing device, echo signal processing system, and echo signal processing method |
| CN113207823A (en) * | 2021-05-11 | 2021-08-06 | 温岭市绿能机电有限公司 | Control system applied to suspended fishing lamp |
| CN113608199A (en) * | 2021-07-01 | 2021-11-05 | 中国水产科学研究院东海水产研究所 | Method for improving sonar detection range |
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| JP2905300B2 (en) * | 1991-03-08 | 1999-06-14 | 日本無線株式会社 | Radar / fish finder switching display |
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| DE3634542A1 (en) * | 1986-10-10 | 1988-04-14 | Krupp Gmbh | Method for determining the position of stationary reflection centres |
| JP2905300B2 (en) * | 1991-03-08 | 1999-06-14 | 日本無線株式会社 | Radar / fish finder switching display |
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| GB2576821A (en) * | 2018-07-31 | 2020-03-04 | Furuno Electric Co | Echo signal processing device, echo signal processing system, and echo signal processing method |
| GB2576821B (en) * | 2018-07-31 | 2023-02-15 | Furuno Electric Co | Echo signal processing device, echo signal processing system, and echo signal processing method |
| CN113207823A (en) * | 2021-05-11 | 2021-08-06 | 温岭市绿能机电有限公司 | Control system applied to suspended fishing lamp |
| CN113207823B (en) * | 2021-05-11 | 2021-12-31 | 温岭市绿能机电有限公司 | Control system applied to suspended fishing lamp |
| CN113608199A (en) * | 2021-07-01 | 2021-11-05 | 中国水产科学研究院东海水产研究所 | Method for improving sonar detection range |
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Application publication date: 20181116 |