CN110261845B - Automatic lifting control system and method for underwater sonar - Google Patents
Automatic lifting control system and method for underwater sonar Download PDFInfo
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- CN110261845B CN110261845B CN201910567668.7A CN201910567668A CN110261845B CN 110261845 B CN110261845 B CN 110261845B CN 201910567668 A CN201910567668 A CN 201910567668A CN 110261845 B CN110261845 B CN 110261845B
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- 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
- G01S7/52004—Means for monitoring or calibrating
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- 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
- G01S7/521—Constructional features
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- 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
- G01S7/52004—Means for monitoring or calibrating
- G01S2007/52014—Means for monitoring or calibrating involving a reference reflector integrated in the sensor or transducer configuration
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- Physics & Mathematics (AREA)
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- Radar, Positioning & Navigation (AREA)
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to an automatic lifting control system and method of an underwater sonar, wherein the system comprises a first pulley and a first pulley driving motor, and is fixed at the front end of the bottom of a ship body; the second pulley and the second pulley driving motor are fixed at the rear end of the bottom of the ship body; the first end of the fixed disc is fixed to the first pulley through a first cable, the first cable is gradually wound on the first pulley when the first pulley rotates along a first direction, the first cable is gradually loosened from the first pulley when the first pulley rotates along a second direction, the second end of the fixed disc is fixed to the second pulley through a second cable, the second cable is gradually wound on the second pulley when the second pulley rotates along the first direction, and the second cable is gradually loosened from the second pulley when the second pulley rotates along the second direction; a first cylinder; a second cylinder; and a controller. The invention can automatically adjust the measurement height of the sonar, and can adjust the front and back positions of the sonar when the ship body is not moved, thereby being more convenient and flexible to detect.
Description
Technical Field
The invention relates to the technical field of underwater sonars, in particular to an automatic lifting control system and method of an underwater sonar.
Background
The sonar is an electronic device which utilizes the propagation characteristics of sound waves under water and completes underwater detection and communication tasks through electroacoustic conversion and information processing. A sonar device generally comprises three parts, namely a base array, an electronic cabinet and auxiliary equipment. The array is composed of underwater acoustic transducers arranged in a certain geometric figure, and the shape of the array is generally spherical, cylindrical, flat or linear row, and is divided into a receiving array, a transmitter array or a transmitting-receiving array. Electronic cabinets typically have a transmission, reception, display, and control, etc. system. Auxiliary assembly includes power supply unit, connecting cable, junction box and repeater under water, and the device such as lift, gyration, every single move, receive and release, drag, hang and put, put in with the transmission control of sonar array matches to and sonar kuppe etc.. The transducer is an important device in sonar, and is a device for converting sound energy and other forms of energy such as mechanical energy, electric energy, magnetic energy and the like. It has two purposes: firstly, sound waves are emitted underwater, which are called as 'transmitting transducers' and are equivalent to loudspeakers in the air; the second is to receive sound waves under water, which is called as a "receiving transducer" and is equivalent to a microphone (colloquially called as a "receiver") in the air. In practice, transducers are often used for transmitting and receiving sound waves at the same time, and transducers used exclusively for reception are also called "hydrophones". The working principle of the transducer is to utilize the piezoelectric effect or the magnetostrictive effect of some materials which are stretched under the action of an electric field or a magnetic field.
The existing sonar on the ship is generally fixed at the bottom of the ship body, and the measurement position is changed along with the advancing of the ship. However, the position of the sonar is largely limited by the hull itself, and the depth of the sonar measurement position cannot be freely adjusted.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an automatic lifting control system and method of an underwater sonar, which can automatically adjust the measurement height of the sonar, can adjust the front position and the rear position of the sonar when a ship body is not moved, and is more convenient and flexible to detect.
In order to achieve the above object, the present invention has the following configurations:
the invention provides an automatic lifting control system of an underwater sonar, which is used for fixing the sonar at the bottom of a ship body and automatically controlling the distance between the sonar and the bottom of the ship body so as to realize the automatic lifting of the sonar, and comprises the following components:
the first pulley and the first pulley driving motor are fixed at the front end of the bottom of the ship body, and the first pulley driving motor drives the first pulley to rotate;
the second pulley and the second pulley driving motor are fixed at the rear end of the bottom of the ship body, and the second pulley driving motor drives the second pulley to rotate;
the first end of the fixed disc is fixed to the first pulley through a first cable, the first cable is gradually wound on the first pulley when the first pulley rotates along a first direction, the first cable is gradually loosened from the first pulley when the first pulley rotates along a second direction, the second end of the fixed disc is fixed to the second pulley through a second cable, the second cable is gradually wound on the second pulley when the second pulley rotates along the first direction, and the second cable is gradually loosened from the second pulley when the second pulley rotates along the second direction;
the rear end of the first cylinder is fixed on the bottom surface of the fixed disc, and a piston rod of the first cylinder is fixed on the upper surface of the sonar through an elastic connecting piece;
the rear end of the second cylinder is fixed on the bottom surface of the fixed disc, and a piston rod of the second cylinder is fixed on the upper surface of the sonar through an elastic connecting piece;
the controller, the controller respectively with first pulley driving motor, second pulley driving motor, the solenoid valve of first cylinder with the solenoid valve of second cylinder is connected, controller control first pulley driving motor with the operation of second pulley driving motor, so that the fixed disk is to when the one end of hull bottom is close to, the fixed disk forms certain angle with the horizontal plane, controller control the piston rod of first cylinder with the piston rod operation of second cylinder, so that the upper surface of sonar keeps parallel with the horizontal plane.
Optionally, a sound wave emitting port and a sound wave receiving port are arranged on the side surface of the sonar, a rotating disc is further arranged above the sonar, and the piston rod of the first cylinder and the piston rod of the second cylinder are respectively fixed on the upper surface of the rotating disc;
the sonar equipment comprises a rotating disc, a driving shaft, a sonar, a rotating driving motor and a driving shaft, wherein the rotating disc is arranged above the rotating disc, the driving shaft of the rotating driving motor is rotatably arranged in the rotating disc in a penetrating mode, the front end of the driving shaft is fixed to the sonar, and the sonar is driven to rotate relative to the rotating disc by the driving shaft of the rotating driving motor.
Optionally, an annular guide groove is formed in the lower surface of the rotating disc, at least one guide post is arranged on the upper surface of the sonar, the guide post is located in the guide groove, and when the sonar rotates relative to the rotating disc, the guide post moves in the guide groove.
Optionally, the elastic connecting piece is a tension spring, a rubber pad or a corrugated pipe.
The embodiment of the invention also provides an automatic lifting control method of the underwater sonar, which adopts the automatic lifting control system of the underwater sonar and comprises the following steps:
the controller determines a sonar lifting instruction, wherein the sonar lifting instruction comprises a lifting target height and a target distance between a sonar and the front end of the bottom of the ship body;
the controller calculates the retraction length of the first cable and the retraction length of the second cable according to the height of the lifting target and the target distance between the sonar and the front end of the bottom of the ship body;
the controller controls the first pulley driving motor according to the retraction length of the first cable, and controls the second pulley driving motor according to the retraction length of the second cable, so that the sonar reaches the lifting target height and the target distance between the sonar and the front end of the bottom of the ship body;
the controller calculates the inclination angle of the sonar according to the current length of the first cable and the current length of the second cable;
the controller controls the piston motion of the first cylinder and the second cylinder according to the inclination angle of the sonar, so that the sonar is adjusted to the horizontal position.
Optionally, a plurality of sonars are respectively installed at the bottoms of a plurality of ship bodies, and a sonar at the bottom of one ship body is defined as a reference sonar, a ship with the reference sonar installed is a calibration ship, and a ship with a non-reference sonar installed is a non-calibration ship;
the method further comprises the steps of:
a controller of the non-calibration vessel receiving a calibration notification of a calibration vessel, the calibration notification including relative position data of the calibration vessel with respect to the non-calibration vessel;
the controller of the non-calibration ship determines a sonar lifting instruction according to the relative position data, so that the sonar deviates towards the calibration ship after lifting control;
the controller of the calibration ship determines a sonar lifting instruction according to the relative position data, so that the sonar deviates towards the non-calibration ship after lifting control;
the controller of the non-calibration ship controls the first pulley driving motor and the second pulley driving motor according to the sonar lifting instruction, and controls the first air cylinder and the second air cylinder, so that the sonar is adjusted to a horizontal position after reaching a lifting target position;
the controller of the calibration ship controls the first pulley driving motor and the second pulley driving motor according to the sonar lifting instruction, and controls the first air cylinder and the second air cylinder, so that the sonar is adjusted to a horizontal position after reaching a lifting target position;
the controller of the non-calibration ship and the controller of the calibration ship sequentially read the measurement data of the sonar of the controller of the non-calibration ship, and the controller of the non-calibration ship sends the measurement data of the sonar of the controller of the non-calibration ship to the calibration ship;
the controller of the calibration ship compares the measurement data of the sonar of the non-calibration ship with the measurement data of the sonar of the non-calibration ship, if the deviation of the two measurement data is within the preset threshold value range, the sonar calibration of the non-calibration ship is successful, and if the deviation of the two measurement data is outside the preset threshold value range, the sonar calibration of the non-calibration ship is failed.
Optionally, a sound wave emitting port and a sound wave receiving port are arranged on the side surface of the sonar, a rotating disc is further arranged above the sonar, and the piston rod of the first cylinder and the piston rod of the second cylinder are respectively fixed on the upper surface of the rotating disc; a rotary driving motor is arranged above the rotary disc, a driving shaft of the rotary driving motor is rotatably arranged in the rotary disc in a penetrating mode, the front end of the driving shaft is fixed to the sonar, and the rotary driving motor drives the driving shaft to rotate so as to drive the sonar to rotate relative to the rotary disc;
before the controller of the non-calibration ship and the controller of the calibration ship sequentially read the measurement data of the sonar, the method further comprises the following steps:
the controller of the non-calibration ship and the controller of the calibration ship respectively adjust the rotation driving motors of the controllers, so that the emission direction of the emission end of the sonar of the non-calibration ship is consistent with the emission direction of the emission end of the sonar of the calibration ship.
Optionally, the method further comprises the steps of:
and the controller of the non-calibration ship judges whether the interval between the time of successful previous calibration and the current time is greater than a preset time threshold value, and if so, the controller of the non-calibration ship sends a calibration request to the controller of the calibration ship.
Therefore, the length of the first cable and the length of the second cable can be adjusted by adjusting the two pulleys, so that the measurement height of the sonar can be automatically adjusted, and the sonar can be measured at different heights under water; in addition, when the adjusting lengths of the first cable and the second cable are inconsistent, the front and back positions of the sonar can be adjusted when the ship body is not moved, and the sonar can be measured at different positions when the ship body is not moved, so that the detection is more convenient and flexible; the control system disclosed by the invention is simple in integral structure and convenient to realize, and can be used for conveniently calibrating the sonar installed on each ship body, so that the accuracy of sonar detection is ensured, and the control system is suitable for large-scale popularization and application.
Drawings
Fig. 1 is a schematic structural diagram of an automatic lifting control system of an underwater sonar according to an embodiment of the present invention;
FIG. 2 is a schematic view of an automatic elevation control system of an underwater sonar according to an embodiment of the present invention controlling the sonar to move toward the rear end of a hull;
FIG. 3 is a schematic view of an automatic elevation control system of an underwater sonar according to an embodiment of the present invention controlling the sonar to move toward the front end of a ship body;
fig. 4 is a schematic structural diagram of a rotating mechanism in an automatic lifting control system of an underwater sonar according to an embodiment of the present invention;
fig. 5 is a schematic view of the rotation mechanism in the automatic elevation control system of the underwater sonar according to an embodiment of the present invention driving the sonar to rotate to another angle;
fig. 6 is a flowchart of an automatic elevation control method for an underwater sonar according to an embodiment of the present invention.
Reference numerals:
1 hull 2 sonar 21 transmission mouth 22 receiving port
3 first pulley 4 second pulley 5 fixed disk 6 rotating disk 61 guide groove
7 first cylinder 8 second cylinder 9 elastic connecting piece 10 driving shaft
11 rotary driving motor 12 guide post
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their repetitive description will be omitted.
The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In some instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring the invention.
As shown in fig. 1, the present invention provides an automatic elevation control system of underwater sonar 2, the system is used for fixing sonar 2 at the bottom of a ship body 1, and automatically controlling the distance between the sonar 2 and the bottom of the ship body 1, so as to realize the automatic elevation of the sonar 2, the system includes:
the first pulley 3 and the first pulley driving motor are fixed at the front end of the bottom of the ship body 1, and the first pulley driving motor drives the first pulley 3 to rotate;
the second pulley 4 and a second pulley driving motor are fixed at the rear end of the bottom of the ship body 1, and the second pulley driving motor drives the second pulley 4 to rotate;
a fixed disk 5, a first end of the fixed disk 5 is fixed to the first pulley 3 through a first cable, when the first pulley 3 rotates in a first direction, the first cable is gradually wound around the first pulley 3, when the first pulley 3 rotates in a second direction, the first cable is gradually loosened from the first pulley 3, a second end of the fixed disk 5 is fixed to the second pulley 4 through a second cable, when the second pulley 4 rotates in the first direction, the second cable is gradually wound around the second pulley 4, and when the second pulley 4 rotates in the second direction, the second cable is gradually loosened from the second pulley 4;
the rear end of the first air cylinder 7 is fixed on the bottom surface of the fixed disc 5, and a piston rod of the first air cylinder 7 is fixed on the upper surface of the sonar 2 through an elastic connecting piece 9;
the rear end of the second cylinder 8 is fixed on the bottom surface of the fixed disk 5, and a piston rod of the second cylinder 8 is fixed on the upper surface of the sonar 2 through an elastic connecting piece 9;
the controller, the controller respectively with first pulley driving motor, second pulley driving motor, the solenoid valve of first cylinder 7 and the solenoid valve of second cylinder 8 are connected, controller control first pulley driving motor with the operation of second pulley driving motor, so that when fixed disk 5 is close to the one end of hull 1 bottom, fixed disk 5 forms certain angle with the horizontal plane, controller control the piston rod of first cylinder 7 with the piston rod operation of second cylinder 8, so that sonar 2's upper surface keeps parallel with the horizontal plane.
According to the invention, the length of the first cable and the length of the second cable are adjusted by adjusting the first pulley 3 and the second pulley 4, so that the measurement height of the sonar 2 can be automatically adjusted, and the measurement of the sonar 2 at different underwater heights is realized. In addition, when length is inconsistent in first cable and second cable regulation, can adjust the front and back position of sonar when the hull is motionless, also can measure in different positions when the hull is motionless to make things convenient for nimble the detection more. As shown in fig. 2, when the number of rotations of second pulley 4 is larger than the number of rotations of first pulley 3, the second cable is more stored than the first cable, the second cable is shorter than the first cable, and sonar 2 is shifted to the rear end of ship body 1 as a whole. At this time, because the fixed disk 5 has a certain angle inclination, the piston rods of the first cylinder 7 and the second cylinder 8 need to be adjusted, and the piston rod extension of the first cylinder 7 is shorter than that of the second cylinder 8, so that the sonar 2 is adjusted to be horizontal. Elastic connecting piece 9 between the piston rod of first cylinder 7 and the piston rod of second cylinder 8 and the upper surface of sonar 2 takes place certain deformation in order to realize the flexible connection between the piston rod of first cylinder 7 and the piston rod of second cylinder 8 and sonar 2. In this embodiment, the elastic connection member 9 may be a tension spring, a rubber pad, or a bellows, or other members capable of playing a role of elastic buffering, and all of them fall within the protection scope of the present invention.
As shown in fig. 4 and 5, the automatic elevation control system of the present invention further provides a rotation mechanism of sonar 2. In this embodiment, the side surface of the sonar 2 is provided with a sound wave emitting port 21 and a sound wave receiving port 22, a rotating disk 6 is further provided above the sonar 2, and the piston rod of the first cylinder 7 and the piston rod of the second cylinder 8 are respectively fixed on the upper surface of the rotating disk 6; a rotary driving motor 11 is arranged above the rotary disc 6, a driving shaft 10 of the rotary driving motor 11 is rotatably inserted into the rotary disc 6, the front end of the driving shaft 10 is fixed to the sonar 2, and the rotary driving motor 11 drives the driving shaft 10 to rotate so as to drive the sonar 2 to rotate relative to the rotary disc 6. Therefore, when the hull 1 is not moving, the sonar 2 can freely rotate and detect at a plurality of angles.
In this embodiment, in order to improve the stability of sonar 2 when rotating with respect to rotating disk 6, a guide mechanism is further added, in which a ring-shaped guide groove 61 is opened on the lower surface of rotating disk 6, at least one guide post 12 is provided on the upper surface of sonar 2, guide post 12 is positioned in guide groove 61, and when sonar 2 rotates with respect to rotating disk 6, guide post 12 moves in guide groove 61.
As shown in fig. 6, an embodiment of the present invention further provides an automatic lifting control method for an underwater sonar, which adopts the automatic lifting control system for an underwater sonar, and the method includes the following steps:
s100: the controller determines a sonar lifting instruction, wherein the sonar lifting instruction comprises a lifting target height and a target distance between a sonar and the front end of the bottom of the ship body;
s200: the controller calculates the retraction length of the first cable and the retraction length of the second cable according to the height of the lifting target and the target distance between the sonar and the front end of the bottom of the ship body;
s300: the controller controls the first pulley driving motor according to the retraction length of the first cable, and controls the second pulley driving motor according to the retraction length of the second cable, so that the sonar reaches the lifting target height and the target distance between the sonar and the front end of the bottom of the ship body;
s400: the controller calculates the inclination angle of the sonar according to the current length of the first cable and the current length of the second cable; the inclination angle of the sonar can be determined according to the current inclination angle of a current shorter cable, for example, a triangle is formed by a first cable, a second cable and the bottom of a ship body, one side of the triangle is a connecting line between a first pulley and a second pulley, the other two sides of the triangle are respectively the first cable and the second cable, the shape of the triangle is determined according to the lengths of the three sides of the triangle, the angle of each angle in the triangle is further determined, and the current inclination angle of the current shorter cable can be determined because the bottom of the ship body is considered to be horizontal;
s500: because present the sonar has certain inclination along with a shorter cable, the controller further according to the inclination control of sonar the piston motion of first cylinder and second cylinder to make the sonar adjustment to horizontal position.
According to the automatic lifting control method of the underwater sonar, the lengths of the first cable and the second cable are adjusted by adjusting the first pulley and the second pulley, so that the measurement height of the sonar can be automatically adjusted, and the sonar can be measured at different underwater heights. In addition, when length is inconsistent in first cable and second cable regulation, can adjust the front and back position of sonar when the hull is motionless, also can measure in different positions when the hull is motionless to make things convenient for nimble the detection more.
In this embodiment, a plurality of sonars are respectively installed at the bottoms of a plurality of ship bodies, and a sonar at the bottom of one ship body is defined as a reference sonar, a ship with the reference sonar installed is a calibration ship, and a ship with a non-reference sonar installed is a non-calibration ship;
the automatic lifting control method of the underwater sonar further comprises the following steps:
a controller of the non-calibration vessel receiving a calibration notification of a calibration vessel, the calibration notification including relative position data of the calibration vessel with respect to the non-calibration vessel;
the controller of the non-calibration ship determines a sonar lifting instruction according to the relative position data, so that the sonar deviates towards the calibration ship after lifting control;
the controller of the calibration ship determines a sonar lifting instruction according to the relative position data, so that the sonar deviates towards the non-calibration ship after lifting control;
the controller of the non-calibration ship controls the first pulley driving motor and the second pulley driving motor according to the sonar lifting instruction, and controls the first air cylinder and the second air cylinder, so that the sonar is adjusted to a horizontal position after reaching a lifting target position;
the controller of the calibration ship controls the first pulley driving motor and the second pulley driving motor according to the sonar lifting instruction, and controls the first air cylinder and the second air cylinder, so that the sonar is adjusted to a horizontal position after reaching a lifting target position;
the controller of the non-calibration ship and the controller of the calibration ship sequentially read the measurement data of the sonar of the controller of the non-calibration ship, and the controller of the non-calibration ship sends the measurement data of the sonar of the controller of the non-calibration ship to the calibration ship;
the controller of the calibration ship compares the measurement data of the sonar of the non-calibration ship with the measurement data of the sonar of the non-calibration ship, if the deviation of the two measurement data is within the preset threshold value range, the sonar calibration of the non-calibration ship is successful, and if the deviation of the two measurement data is outside the preset threshold value range, the sonar calibration of the non-calibration ship is failed.
The calibration ship can adopt an unmanned ship, and the route of the unmanned ship is planned according to the position of each non-calibration ship to be calibrated, so that the unmanned ship sequentially calibrates the sonars of each non-calibration ship to be calibrated. If one sonar is calibrated successfully, the serial number, the calibration time and the calibration result of the non-calibration ship are recorded, if one sonar is calibrated unsuccessfully, the unmanned ship can return to the control center after one round of calibration is completed, and after a new sonar is obtained, the new sonar is transported to the non-calibration ship where calibration is failed. Therefore, the automatic lifting control system of the underwater sonar is simple in overall structure and convenient to realize, can conveniently calibrate the sonar installed on each ship body, ensures the accuracy of sonar detection, and is suitable for large-scale popularization and application.
In this embodiment, before the controller of the non-calibration ship and the controller of the calibration ship sequentially read the measurement data of their own sonar, the method further includes the following steps:
the controller of the non-calibration ship and the controller of the calibration ship respectively adjust the rotation driving motors of the controllers, so that the emission direction of the emission end of the sonar of the non-calibration ship is consistent with the emission direction of the emission end of the sonar of the calibration ship.
Therefore, the invention can further ensure the accuracy of the measurement of all sonar of non-calibration ships and can realize the periodic accurate calibration. And in the calibration process, the sonar height and the sonar distance relative to the front end of the ship body are adjusted, so that the sonar of the calibration ship and the sonar of the non-calibration ship are close to each other, and the calibration error is reduced. In addition, the sonar of the calibration ship and the sonar of the non-calibration ship are adjusted to the same angle for detection, so that the calibration error is further reduced, and the calibration accuracy is improved.
In this embodiment, the automatic lifting control method for the underwater sonar further includes the following steps:
the controller of the non-calibration ship judges whether the interval between the time of successful calibration at the previous time and the current time is larger than a preset time threshold value or not, if so, the controller of the non-calibration ship sends a calibration request to the controller of the calibration ship, and if not, the non-calibration ship is kept in a normal detection state.
Therefore, the length of the first cable and the length of the second cable can be adjusted by adjusting the two pulleys, so that the measurement height of the sonar can be automatically adjusted, and the sonar can be measured at different heights under water; in addition, when the adjusting lengths of the first cable and the second cable are inconsistent, the front and back positions of the sonar can be adjusted when the ship body is not moved, and the sonar can be measured at different positions when the ship body is not moved, so that the detection is more convenient and flexible; the control system disclosed by the invention is simple in integral structure and convenient to realize, and can be used for conveniently calibrating the sonar installed on each ship body, so that the accuracy of sonar detection is ensured, and the control system is suitable for large-scale popularization and application.
In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.
Claims (8)
1. The utility model provides an automatic rising control system of sonar under water, its characterized in that, the system is used for being fixed in the hull bottom with the sonar, and automatic control the distance of sonar and hull bottom to realize the automatic rising of sonar, the system includes:
the first pulley and the first pulley driving motor are fixed at the front end of the bottom of the ship body, and the first pulley driving motor drives the first pulley to rotate;
the second pulley and the second pulley driving motor are fixed at the rear end of the bottom of the ship body, and the second pulley driving motor drives the second pulley to rotate;
the first end of the fixed disc is fixed to the first pulley through a first cable, the first cable is gradually wound on the first pulley when the first pulley rotates along a first direction, the first cable is gradually loosened from the first pulley when the first pulley rotates along a second direction, the second end of the fixed disc is fixed to the second pulley through a second cable, the second cable is gradually wound on the second pulley when the second pulley rotates along the first direction, and the second cable is gradually loosened from the second pulley when the second pulley rotates along the second direction;
the rear end of the first cylinder is fixed on the bottom surface of the fixed disc, and a piston rod of the first cylinder is fixed on the upper surface of the sonar through an elastic connecting piece;
the rear end of the second cylinder is fixed on the bottom surface of the fixed disc, and a piston rod of the second cylinder is fixed on the upper surface of the sonar through an elastic connecting piece;
the controller, the controller respectively with first pulley driving motor, second pulley driving motor, the solenoid valve of first cylinder with the solenoid valve of second cylinder is connected, controller control first pulley driving motor with the operation of second pulley driving motor, so that the fixed disk is to when the one end of hull bottom is close to, the fixed disk forms certain angle with the horizontal plane, controller control the piston rod of first cylinder with the piston rod operation of second cylinder, so that the upper surface of sonar keeps parallel with the horizontal plane.
2. The automatic lifting control system of claim 1, wherein the side of the sonar is provided with a sound wave emitting port and a sound wave receiving port, a rotating disc is arranged above the sonar, and the piston rod of the first cylinder and the piston rod of the second cylinder are respectively fixed on the upper surface of the rotating disc;
the sonar equipment comprises a rotating disc, a driving shaft, a sonar, a rotating driving motor and a driving shaft, wherein the rotating disc is arranged above the rotating disc, the driving shaft of the rotating driving motor is rotatably arranged in the rotating disc in a penetrating mode, the front end of the driving shaft is fixed to the sonar, and the sonar is driven to rotate relative to the rotating disc by the driving shaft of the rotating driving motor.
3. The automatic elevation control system of claim 2, wherein an annular guide groove is formed in the lower surface of the rotating disc, at least one guide post is arranged on the upper surface of the sonar, the guide post is positioned in the guide groove, and when the sonar rotates relative to the rotating disc, the guide post moves in the guide groove.
4. The automatic elevation control system of an underwater sonar according to any one of claims 1 to 3, wherein the elastic connecting member is a tension spring, a rubber pad, or a bellows.
5. An automatic lifting control method of an underwater sonar, characterized in that the automatic lifting control system of the underwater sonar according to any one of claims 1 to 4 is adopted, the method comprising the steps of:
the controller determines a sonar lifting instruction, wherein the sonar lifting instruction comprises a lifting target height and a target distance between a sonar and the front end of the bottom of the ship body;
the controller calculates the retraction length of the first cable and the retraction length of the second cable according to the height of the lifting target and the target distance between the sonar and the front end of the bottom of the ship body;
the controller controls the first pulley driving motor according to the retraction length of the first cable, and controls the second pulley driving motor according to the retraction length of the second cable, so that the sonar reaches the lifting target height and the target distance between the sonar and the front end of the bottom of the ship body;
the controller calculates the inclination angle of the sonar according to the current length of the first cable and the current length of the second cable;
the controller controls the piston motion of the first cylinder and the second cylinder according to the inclination angle of the sonar, so that the sonar is adjusted to the horizontal position.
6. The automatic elevation control method of an underwater sonar according to claim 5, wherein a plurality of sonars are respectively installed at bottoms of a plurality of boat bodies, and a sonar at the bottom of one boat body is defined as a reference sonar, a boat with the reference sonar installed is a calibration boat, and a boat with a non-reference sonar installed is a non-calibration boat;
the method further comprises the steps of:
a controller of the non-calibration vessel receiving a calibration notification of a calibration vessel, the calibration notification including relative position data of the calibration vessel with respect to the non-calibration vessel;
the controller of the non-calibration ship determines a sonar lifting instruction according to the relative position data, so that the sonar deviates towards the calibration ship after lifting control;
the controller of the calibration ship determines a sonar lifting instruction according to the relative position data, so that the sonar deviates towards the non-calibration ship after lifting control;
the controller of the non-calibration ship controls the first pulley driving motor and the second pulley driving motor according to the sonar lifting instruction, and controls the first air cylinder and the second air cylinder, so that the sonar is adjusted to a horizontal position after reaching a lifting target position;
the controller of the calibration ship controls the first pulley driving motor and the second pulley driving motor according to the sonar lifting instruction, and controls the first air cylinder and the second air cylinder, so that the sonar is adjusted to a horizontal position after reaching a lifting target position;
the controller of the non-calibration ship and the controller of the calibration ship sequentially read the measurement data of the sonar of the controller of the non-calibration ship, and the controller of the non-calibration ship sends the measurement data of the sonar of the controller of the non-calibration ship to the calibration ship;
the controller of the calibration ship compares the measurement data of the sonar of the non-calibration ship with the measurement data of the sonar of the non-calibration ship, if the deviation of the two measurement data is within the preset threshold value range, the sonar calibration of the non-calibration ship is successful, and if the deviation of the two measurement data is outside the preset threshold value range, the sonar calibration of the non-calibration ship is failed.
7. The automatic lifting control method of the underwater sonar according to claim 6, wherein a sound wave emitting port and a sound wave receiving port are arranged on the side surface of the sonar, a rotating disk is further arranged above the sonar, and a piston rod of the first cylinder and a piston rod of the second cylinder are respectively fixed on the upper surface of the rotating disk; a rotary driving motor is arranged above the rotary disc, a driving shaft of the rotary driving motor is rotatably arranged in the rotary disc in a penetrating mode, the front end of the driving shaft is fixed to the sonar, and the rotary driving motor drives the driving shaft to rotate so as to drive the sonar to rotate relative to the rotary disc;
before the controller of the non-calibration ship and the controller of the calibration ship sequentially read the measurement data of the sonar, the method further comprises the following steps:
the controller of the non-calibration ship and the controller of the calibration ship respectively adjust the rotation driving motors of the controllers, so that the emission direction of the emission end of the sonar of the non-calibration ship is consistent with the emission direction of the emission end of the sonar of the calibration ship.
8. The automatic lifting control method of the underwater sonar according to claim 7, further comprising the steps of:
and the controller of the non-calibration ship judges whether the interval between the time of successful previous calibration and the current time is greater than a preset time threshold value, and if so, the controller of the non-calibration ship sends a calibration request to the controller of the calibration ship.
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