CN112698312B - Port ranging device based on resampling nonlinear frequency modulation continuous wave - Google Patents
Port ranging device based on resampling nonlinear frequency modulation continuous wave Download PDFInfo
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- CN112698312B CN112698312B CN202011421454.8A CN202011421454A CN112698312B CN 112698312 B CN112698312 B CN 112698312B CN 202011421454 A CN202011421454 A CN 202011421454A CN 112698312 B CN112698312 B CN 112698312B
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- 238000012952 Resampling Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 65
- 238000005192 partition Methods 0.000 claims description 11
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims 1
- 235000017491 Bambusa tulda Nutrition 0.000 claims 1
- 241001330002 Bambuseae Species 0.000 claims 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims 1
- 239000011425 bamboo Substances 0.000 claims 1
- 244000309464 bull Species 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000010183 spectrum analysis Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
Abstract
The invention discloses a port ranging device based on resampling nonlinear frequency modulation continuous waves, wherein the inner bottom of a floating cylinder is fixedly connected with a positioning mechanism, the inner top of the floating cylinder is fixedly connected with a ranging mechanism, the outer part of the bottom of the floating cylinder is fixedly connected with the middle part of a steering mechanism, and the bottom of the floating cylinder is fixedly connected with a moving mechanism. According to the port ranging device based on resampling nonlinear frequency modulation continuous wave, the purpose of acoustic ranging can be achieved through the ultrasonic generator and the ultrasonic receiver, meanwhile, the power amplifier can amplify acoustic signals to achieve the purpose of remote ranging, and the signal reflector can timely upload ranging information to achieve the purpose of ranging, so that coordination is facilitated; the first rotating rod is driven to rotate through the start of the second motor, and the second rotating rod is driven to rotate under the cooperation of the first gear and the second gear, so that the distance measuring device is driven to move under the rotation of the propeller, and the purpose of flexible use is achieved.
Description
Technical Field
The invention relates to the technical field of port ranging, in particular to a port ranging device based on resampling nonlinear frequency modulation continuous waves.
Background
The port is a transportation hub located on the coast of the sea, river, lake, reservoir, with amphibious facilities and conditions for safe ingress and egress and berthing of vessels. The port is a collection point and a junction of the amphibious traffic, is a collection and distribution place of industrial and agricultural products and foreign trade import and export materials, and is also a place for berthing ships, loading and unloading cargoes, loading and unloading passengers and supplementing supply. In China, coastal port construction is focused around transportation systems such as coal, containers, imported iron ores, grains, liu Dao roll-on and deep water sea channels and the like.
Therefore, the number of ships entering and exiting the port every day is huge, collision accidents are easy to occur, high-port blockage is caused, coordination is needed, accurate ranging is needed to be performed on the ships entering and exiting the port, the aim of coordination is achieved according to the distance and the navigational speed of the ships, the conventional ranging mechanism cannot achieve long-distance ranging, meanwhile, flexible use cannot be achieved, positioning is troublesome, and improvement is needed.
Disclosure of Invention
The invention aims to provide a port ranging device based on resampling nonlinear frequency modulation continuous waves, which solves the problems in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions: the port ranging device based on the resampling nonlinear frequency modulation continuous wave comprises a floating barrel, a ranging mechanism, a steering mechanism, a moving mechanism and a positioning mechanism, wherein the positioning mechanism is fixedly connected to the bottom in the floating barrel, the ranging mechanism is fixedly connected to the top of the positioning mechanism in the floating barrel, the steering mechanism is fixedly connected to the middle of the outer part of the bottom of the floating barrel, and the moving mechanism is fixedly connected to the bottom of the floating barrel.
The range finding mechanism comprises a signal transmitter, an ultrasonic generator, a power amplifier, a power supply, an ultrasonic receiver and a partition plate, wherein the power supply is fixedly connected to the left side of the top of the partition plate, the ultrasonic generator is fixedly connected to the right side of the power supply, the ultrasonic receiver is fixedly connected to the right side of the ultrasonic generator, the power amplifier is fixedly connected to the right side of the floating pontoon at the top of the partition plate, and the signal transmitter is fixedly connected to the right side of the floating pontoon at the top of the power amplifier.
Preferably, the power supply is electrically connected with a signal transmitter, an ultrasonic generator, a power amplifier, a power supply and an ultrasonic receiver, and the ultrasonic generator and the ultrasonic receiver are electrically connected with the power amplifier.
Preferably, the two moving mechanisms are symmetrically distributed on the front side and the rear side of the bottom of the floating cylinder.
Preferably, the steering mechanism comprises a floating shell, an air bag, a first fixing plate, a rotary pin, a first motor, a rotary disc, a movable rod, a steering plate and a fixing frame, wherein the floating shell is fixedly connected to the outer wall of the bottom of the floating barrel, the air bag is fixedly connected to the bottom of the floating shell, the first fixing plate is fixedly connected to the right side of the top of the floating shell, the first motor is fixedly connected to the middle of the first fixing plate, the rotary disc is fixedly connected to the bottom of the first motor, the rotary pin is fixedly connected to the edge of the bottom of the rotary disc, the movable rod is hinged to the hinge of the rotary pin, the fixing frame is fixedly connected to the right side of the floating shell, the steering plate is hinged to the hinge of the middle of the fixing frame, and the movable rod is hinged to the hinge of the left side of the top of the steering plate.
Preferably, a sliding groove is formed in the right side of the floating shell corresponding to the movable rod, and the sliding groove is connected with the movable rod in a sliding mode.
Preferably, the shifting mechanism comprises a first fixed rod, a power box, a screw, a second fixed rod, a second fixed plate, a first gear, a second motor, a first rotating rod, a second gear and a second rotating rod, wherein the second fixed rod is fixedly connected to the bottom of the inner side of the first fixed rod, the power box is fixedly connected to the middle part of the second fixed rod, the second fixed plate is fixedly connected to the right side of the inner top of the power box, the second motor is fixedly connected to the middle part of the second fixed plate, the first rotating rod is fixedly connected to the left side of the second motor, the first rotating rod is rotationally connected to the power box at the left end of the first rotating rod, the second rotating rod is rotationally connected to the bottom of the right side of the first rotating rod, the second rotating rod is fixedly connected with the second gear corresponding to the first gear, and the right end of the second rotating rod penetrates through the power box and extends to the screw which is fixedly connected to the outside of the power box.
Preferably, the floating barrel is fixedly connected to the top end of the first fixing rod, two first fixing rods are arranged, and the two first fixing rods are distributed at the two ends of the second fixing rod.
Preferably, the positioning mechanism comprises a mounting seat, a balancing weight, a fixed ring, a through hole, a pull rope, a rotary drum, a third motor, a limiting block, a positioning block and a positioning hook, wherein the mounting seat is fixedly connected to the bottom in the floating drum, the balancing weight is fixedly connected to the left side of the top of the mounting seat, the limiting block is fixedly connected to the right side of the top of the mounting seat, the rotary drum is rotationally connected to the middle part of the inner side of the limiting block, the third motor is fixedly connected to the rear side of the limiting block, the rotary drum is fixedly connected to the front side of the third motor, the pull rope is wound on the outer wall of the rotary drum, one end of the pull rope is fixedly connected with the fixed ring, the positioning block is fixedly connected to the bottom of the fixed ring, the positioning hook is fixedly connected to the bottom of the positioning block, and the through hole is correspondingly formed in the middle of the mounting seat.
Compared with the prior art, the invention has the beneficial effects that:
1. this harbour ranging device based on resampling nonlinear frequency modulation continuous wave through the range finding mechanism that sets up, can reach the purpose of sound wave range finding through supersonic generator and ultrasonic receiver, and power amplifier can amplify the sound wave signal simultaneously, reaches the purpose of long-range finding, and signal reflector can in time upload the information of range finding, reaches the range finding purpose to be convenient for coordinate.
2. This harbour rangefinder based on resampling nonlinear frequency modulation continuous wave through the moving mechanism who sets up, can be when needs remove rangefinder, starts through the second motor and drives first bull stick rotation, drives the second bull stick rotation under the cooperation of first gear and second gear to drive rangefinder and remove under the rotation of screw, reach the purpose of nimble use.
3. This harbour ranging device based on resampling nonlinear frequency modulation continuous wave through the steering mechanism who sets up, drives the carousel through ground first motor work and rotates, under the cooperation of round pin and movable rod, drives steering plate angle slope to reach the purpose of turning to, can further reach the purpose of nimble use.
4. According to the port ranging device based on resampling nonlinear frequency modulation continuous wave, when the port ranging device moves to a specified place through the set positioning mechanism, the third motor is started to drive the rotary drum to work, so that the positioning block is placed on a river bed and a sea bed through the pull rope, and meanwhile, the river bed and the sea bed are firmly fixed through the positioning hooks, so that the purpose of positioning and fixing is achieved.
Drawings
FIG. 1 is a schematic diagram of the front structure of the present invention;
FIG. 2 is a schematic view of a schematic cross-sectional front view of a ranging mechanism;
FIG. 3 is a schematic view of a front cross-sectional structure of the steering mechanism and positioning mechanism taken;
FIG. 4 is a schematic diagram of the front structure of the mobile mechanism;
FIG. 5 is a schematic view of the internal structure of the front section of the power box;
FIG. 6 is a schematic top view of the positioning mechanism;
fig. 7 is a flow chart of a chirped continuous wave sonar ranging procedure.
In the figure: 1 float bowl, 2 range finding mechanism, 21 signal transmitter, 22 ultrasonic generator, 23 power amplifier, 24 power supply, 25 ultrasonic receiver, 26 baffle, 3 steering mechanism, 31 float shell, 32 gasbag, 33 first fixed plate, 34 rotary pin, 35 first motor, 36 carousel, 37 movable rod, 38 steering plate, 39 mount, 4 moving mechanism, 41 first fixed rod, 42 power case, 43 screw, 44 second fixed rod, 45 second fixed plate, 46 first gear, 461 second motor, 47 first bull stick, 48 second gear, 49 second bull stick, 5 positioning mechanism, 51 mount pad, 52 balancing weight, 53 solid fixed ring, 54 through-hole, 55 stay cord, 56 rotary drum, 57 third motor, 58 stopper, 59 locating piece, 591 locating hook.
Description of the embodiments
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-7, the present invention provides a technical solution: the port ranging device based on the resampling nonlinear frequency modulation continuous wave comprises a floating pontoon 1, a ranging mechanism 2, a steering mechanism 3, a moving mechanism 4 and a positioning mechanism 5, wherein the positioning mechanism 5 is fixedly connected to the bottom in the floating pontoon 1, the ranging mechanism 2 is fixedly connected to the top of the positioning mechanism 5 in the floating pontoon 1, the steering mechanism 3 is fixedly connected to the middle of the bottom of the floating pontoon 1, and the moving mechanism 4 is fixedly connected to the bottom of the floating pontoon 1.
The ranging mechanism 2 comprises a signal emitter 21, an ultrasonic generator 22, a power amplifier 23, a power supply 24, an ultrasonic receiver 25 and a partition plate 26, wherein the power supply 24 is fixedly connected to the left side of the top of the partition plate 26, the ultrasonic generator 22 is fixedly connected to the right side of the power supply 24, the ultrasonic receiver 25 is fixedly connected to the right side of the ultrasonic generator 22 at the top of the partition plate 26, the power amplifier 23 is fixedly connected to the right side of the floating cylinder 1 at the top of the power amplifier 23, the signal emitter 21 is electrically connected to the power supply 24, the ultrasonic generator 22, the power amplifier 23, the power supply 24 and the ultrasonic receiver 25, the power amplifier is electrically connected to the ultrasonic generator and the ultrasonic receiver, the two moving mechanisms 4 are symmetrically distributed on the front side and the rear side of the bottom of the floating cylinder 1, the purpose of sonic ranging can be achieved through the ultrasonic generator 22 and the ultrasonic receiver 25 through the arranged ranging mechanism 2, the purpose of sonic ranging can be achieved, meanwhile, the purpose of remote ranging can be achieved through the power amplifier 23, the purpose of remote ranging can be achieved, and the information of the signal reflector 21 can be conveniently and timely coordinated.
The steering mechanism 3 comprises a floating shell 31, an air bag 32, a first fixed plate 33, a rotating pin 34, a first motor 35, a rotary table 36, a movable rod 37, a steering plate 38 and a fixed frame 39, wherein the outer wall of the bottom of the floating pontoon 1 is fixedly connected with the floating shell 31, the air bag 32 is fixedly connected with the right side of the top of the floating shell 31, the first fixed plate 33 is fixedly connected with the right side of the top of the floating shell 31, the first motor 35 is fixedly connected with the rotary table 36, the edge of the bottom of the rotary table 36 is fixedly connected with the rotary pin 34, the movable rod 37 is hinged to the hinge of the rotary pin 34, the fixed frame 39 is fixedly connected with the right side of the floating shell 31, the steering plate 38 is hinged to the hinge of the left side of the top of the steering plate 38, a sliding groove is formed in correspondence to the movable rod 37, the sliding groove is connected with the movable rod 37, the steering mechanism 3 is arranged, the rotary table 36 is driven to rotate through the operation of the first motor 35, and the steering plate 38 is driven to tilt under the cooperation of the rotary pin 34 and the movable rod 37, so that the purpose of flexible use can be achieved.
The shifting mechanism 4 comprises a first fixing rod 41, a power box 42, a propeller 43, a second fixing rod 44, a second fixing plate 45, a first gear 46, a second motor 461, a first rotating rod 47, a second gear 48 and a second rotating rod 49, wherein the second fixing rod 44 is fixedly connected to the bottom of the inner side of the first fixing rod 41, the power box 42 is fixedly connected to the middle part of the second fixing rod 44, the second fixing plate 45 is fixedly connected to the right side of the top of the power box 42, the second motor 461 is fixedly connected to the left side of the second motor 461, the first rotating rod 47 is fixedly connected to the left end of the first rotating rod 47, the power box 42 is rotatably connected to the left end of the second rotating rod 49, the first gear 46 is closely connected to the second rotating rod 49, the second rotating rod 49 is fixedly connected to the second gear 48 corresponding to the first gear 46, the right end of the second rotating rod 49 penetrates through the power box 42 and extends to the outer side of the power box 42, the propeller 43 is fixedly connected to the top of the first fixing rod 41, the first fixing rod 41 is fixedly connected to the floating cylinder 1, the first fixing rod is provided with the first rotating rod 47, the first rotating rod 47 is rotatably connected to the second rotating rod 47 at the left end of the second rotating rod 45, the first rotating rod is rotatably connected to the second rotating rod 49, the second rotating rod 49 is rotatably connected to the second rotating rod 49, and the second rotating rod 49 is arranged at the second rotating rod 49 and the second rotating rod 4, and the second rotating device is matched with the first gear 46 and the second rotating rod 4.
The positioning mechanism 5 comprises a mounting seat 51, a balancing weight 52, a fixed ring 53, a through hole 54, a pull rope 55, a rotary drum 56, a third motor 57, a limiting block 58, a positioning block 59 and a positioning hook 591, wherein the mounting seat 51 is fixedly connected to the middle part of the bottom of the floating pontoon 1, the balancing weight 52 is fixedly connected to the left side of the top of the mounting seat 51, the limiting block 58 is fixedly connected to the right side of the top of the mounting seat 51, the rotary drum 56 is rotationally connected to the middle part of the inner side of the limiting block 58, the third motor 57 is fixedly connected to the rear side of the limiting block 58, the rotary drum 56 is fixedly connected to the third motor 57, the front side of the third motor 57 is fixedly connected to the rotary drum 56, the pull rope 55 is wound on the outer wall of the rotary drum 56, one end of the pull rope 55 is fixedly connected with the fixed ring 53, the bottom of the fixed ring 53 is fixedly connected with the positioning block 59, the positioning hook 591 is fixedly connected to the bottom of the positioning block 59, the through hole 54 is formed in the middle of the mounting seat 51, and when the positioning mechanism 5 is moved to a specified place, the third motor 57 is started to drive the rotary drum 56 to work, and the positioning block 59 is placed on a river bed and a seabed through the pull rope 55, and the positioning hook 591 is firmly fixed.
First, a chirped continuous wave (LFMCW) signal is generated by a signal generating device and split into two paths. One of the continuous waves is used as a detection signal, is transmitted to a detection area by the ultrasonic generator 22 after passing through the power amplifier 23, and has the propagation speed of c, and the other is used as a reference signal. Reflected by the detected obstacleAfter the time, the received probe wave is received by the ultrasonic receiver 25, the received probe wave is mixed with the reference wave, and the mixed signal is subjected to low-pass filtering and spectrum analysis, so that the main frequency f of the signal is obtained, and the measured distance D is calculated according to the formula (1).
（1）
Where B is the chirp rate of the chirped continuous wave.
When the device is used, the purpose of sound wave ranging can be achieved through the ultrasonic generator 22 and the ultrasonic receiver 25, meanwhile, the power amplifier 23 can amplify sound wave signals, the purpose of remote ranging is achieved, the signal reflector 21 can upload ranging information timely, the purpose of ranging is achieved, the device is convenient to coordinate, when the ranging device needs to be moved, the second motor 461 starts to drive the first rotating rod 47 to rotate, the second rotating rod 49 is driven to rotate under the cooperation of the first gear 46 and the second gear 48, the ranging device is driven to move under the rotation of the propeller, the turntable 36 is driven to rotate through the operation of the first motor 35, the steering plate 38 is driven to incline under the cooperation of the rotating pin 34 and the movable rod 37, the purpose of steering is achieved, the purpose of flexible use can be achieved, when the device is moved to a specified place, the third motor 57 starts to drive the rotating cylinder 56 to work, the positioning block 59 is placed on a river bed and a sea bed through the pull rope 55, and the river bed is firmly fixed through the positioning hook 591.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. The utility model provides a harbour range unit based on resampling nonlinear frequency modulation continuous wave, includes float bowl (1), range finding mechanism (2), steering mechanism (3), moving mechanism (4) and positioning mechanism (5), its characterized in that: the floating device is characterized in that a positioning mechanism (5) is fixedly connected to the bottom in the floating barrel (1), a ranging mechanism (2) is fixedly connected to the top of the positioning mechanism (5) in the floating barrel (1), the middle of a steering mechanism (3) is fixedly connected to the outer part of the bottom of the floating barrel (1), and a moving mechanism (4) is fixedly connected to the bottom of the floating barrel (1);
the range finding mechanism (2) comprises a signal emitter (21), an ultrasonic generator (22), a power amplifier (23), a power supply (24), an ultrasonic receiver (25) and a partition plate (26), wherein the power supply (24) is fixedly connected to the left side of the top of the partition plate (26), the ultrasonic generator (22) is fixedly connected to the right side of the power supply (24) at the top of the partition plate (26), the ultrasonic receiver (25) is fixedly connected to the right side of the ultrasonic generator (22) at the top of the partition plate (26), the power amplifier (23) is fixedly connected to the right side of the floating barrel (1) at the top of the partition plate (26), and the signal emitter (21) is fixedly connected to the right side of the floating barrel (1) at the top of the power amplifier (23);
steering mechanism (3) are including floating shell (31), gasbag (32), first fixed plate (33), round pin (34), first motor (35), carousel (36), movable rod (37), steering plate (38) and mount (39), float the outer wall fixedly connected with of section of thick bamboo (1) bottom and float shell (31), float shell (31) bottom fixedly connected with gasbag (32) float shell (31) top right side fixedly connected with first fixed plate (33), first fixed plate (33) middle part fixedly connected with first motor (35), first motor (35) bottom fixedly connected with carousel (36), carousel (36) bottom edge fixedly connected with round pin (34), round pin (34) hinge articulates there is movable rod (37), float shell (31) right side fixedly connected with mount (39), mount (39) middle part hinge articulates there is steering plate (38), steering plate (38) top left side hinge articulates there is movable rod (37);
the two moving mechanisms (4) are arranged, and the two moving mechanisms (4) are symmetrically distributed on the front side and the rear side of the bottom of the floating cylinder (1);
the moving mechanism (4) comprises a first fixed rod (41), a power box (42), a propeller (43), a second fixed rod (44), a second fixed plate (45), a first gear (46), a second motor (461), a first rotating rod (47), a second gear (48) and a second rotating rod (49), wherein the second fixed rod (44) is fixedly connected to the bottom inside the first fixed rod (41), the power box (42) is fixedly connected to the middle part of the second fixed rod (44), the second fixed plate (45) is fixedly connected to the right side of the inner top of the power box (42), the second motor (461) is fixedly connected to the middle part of the second fixed plate (45), the first rotating rod (47) is fixedly connected to the left side of the second motor (461), the power box (42) is rotatably connected to the left end of the first rotating rod (47), the second rotating rod (49) is fixedly connected to the first gear (46) near the right end, the second rotating rod (49) is rotatably connected to the bottom left side and the right side of the power box (42), the second rotating rod (49) is fixedly connected to the right side of the second rotating rod (49), and the second rotating rod (46) correspondingly extends to the second rotating rod (42), and is fixedly connected to the right end of the second rotating rod (42);
the positioning mechanism (5) comprises a mounting seat (51), a balancing weight (52), a fixed ring (53), a through hole (54), a pull rope (55), a rotary drum (56), a third motor (57), a limiting block (58), a positioning block (59) and a positioning hook (591), wherein the mounting seat (51) is fixedly connected to the bottom in the floating drum (1), the balancing weight (52) is fixedly connected to the left side of the top of the mounting seat (51), the limiting block (58) is fixedly connected to the right side of the top of the mounting seat (51), the rotary drum (56) is rotationally connected to the middle part of the inner side of the limiting block (58), the rotary drum (56) is fixedly connected to the rear side of the limiting block (58), the rotary drum (56) is fixedly connected to the front side of the third motor (57), the pull rope (55) is wound on the outer wall of the rotary drum (56), the fixed ring (53) is fixedly connected to one end of the pull rope (55), the fixed ring (53) is fixedly connected to the bottom of the positioning block (591), the positioning block (59) is fixedly connected to the bottom, and the middle part of the positioning block (51) is correspondingly provided with the through hole (54).
When the positioning mechanism (5) is arranged and moved to a specified place, the third motor (57) is started to drive the rotary drum (56) to work, so that the positioning block (59) is placed on a river bed and a seabed through the pull rope (55), and meanwhile, the river bed and the seabed are firmly fixed through the positioning hooks (591), so that the purpose of positioning and fixing is achieved.
2. The port ranging apparatus based on resampling nonlinear frequency modulation continuous wave of claim 1, wherein: the power supply (24) is electrically connected with the signal transmitter (21), the ultrasonic generator (22), the power amplifier (23), the power supply (24) and the ultrasonic receiver (25), and the ultrasonic generator and the ultrasonic receiver are electrically connected with the power amplifier.
3. The port ranging apparatus based on resampling nonlinear frequency modulation continuous wave according to claim 2, wherein: the right side of the floating shell (31) is provided with a sliding groove corresponding to the movable rod (37), and the sliding groove is connected with the movable rod (37) in a sliding manner.
4. A port ranging apparatus based on resampling nonlinear frequency modulated continuous wave according to claim 3, wherein: the floating barrel (1) is fixedly connected to the top end of the first fixing rod (41), two first fixing rods (41) are arranged, and the two first fixing rods (41) are distributed at two ends of the second fixing rod (44).
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| CN202011421454.8A CN112698312B (en) | 2020-12-08 | 2020-12-08 | Port ranging device based on resampling nonlinear frequency modulation continuous wave |
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| CN202011421454.8A CN112698312B (en) | 2020-12-08 | 2020-12-08 | Port ranging device based on resampling nonlinear frequency modulation continuous wave |
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