CN112977728A - Intelligent position correction device for acoustic evaluation system - Google Patents
Intelligent position correction device for acoustic evaluation system Download PDFInfo
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- CN112977728A CN112977728A CN202110309340.2A CN202110309340A CN112977728A CN 112977728 A CN112977728 A CN 112977728A CN 202110309340 A CN202110309340 A CN 202110309340A CN 112977728 A CN112977728 A CN 112977728A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/08—Arrangement of ship-based loading or unloading equipment for cargo or passengers of winches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/485—Control devices automatic electrical
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
Abstract
The invention relates to the technical field of ocean exploration engineering equipment, in particular to intelligent position correction equipment for an acoustic evaluation system, which comprises a controller, a cable arrangement device and a detection and calculation module, wherein the cable arrangement device is arranged on a ship body; the cable arrangement device is provided with at least three groups, the cable arrangement device comprises cables for putting in the acoustic evaluation system, free ends of the cables are connected to the same connector after passing through the cable arrangement device, and the connector is also connected with a measuring device for measurement; the stress state of the cable is detected in real time, the detection and calculation module sends a signal to the controller, the driving motor is controlled to drive the winch to work through real-time transmission of the signal, the cable is adjusted in real time according to the tension state of the cable, the stress state of the cable is enabled to be in a relatively stable state, the position of the acoustic evaluation system is controlled to be in a stable state, and detection precision is improved.
Description
Technical Field
The invention relates to the field of ocean exploration engineering technical equipment, in particular to intelligent position correction equipment for an acoustic evaluation system.
Background
Sound is generated by the vibration of an object. In a vibrating medium (air, liquid or solid), a certain mass point vibrates back and forth along a middle shaft and drives surrounding mass points to vibrate and gradually expand in all directions, namely sound waves. The method for detecting, positioning and identifying the underwater object by using the system for generating the sound wave and the used equipment can be collectively called as an acoustic evaluation system, the acoustic evaluation system which actively gives out the sound wave emits the sound wave to the water, a target is found by receiving the echo reflected by the underwater object, and the parameters of the target are measured; the target distance can be estimated by the time difference between the original sound wave emission and the echo arrival; the target orientation is obtained by measuring the difference between two subarrays in the receiving acoustic array. The active sonar consists of a transmitter, an acoustic array, a receiver (including signal processing) and a display console. The passive acoustic evaluation system detects the target by receiving the radiation noise of the target and measures the parameters of the target; it is composed of three parts of receiving acoustic array, receiver (signal processing) and display control panel. Both active and passive acoustic evaluation systems require transmitters and/or receivers mounted on the hull to process the sound waves, so that the determination of the position of the transmitter and/or receiver directly affects the accuracy of the detection by the acoustic evaluation system.
Because receive the restriction of factors such as hull size, displacement and power, the common mode that unmanned ship carried on sonar work includes: a ship bottom mounting mode and a side hanging mode. The installation mode of the ship bottom is that the sonar transducer and the sonar lower computer are directly installed on the ship bottom, and the unmanned ship sails to complete the detection of the set sea area. The broadside hanging mode is that the sonar transducer and the sonar lower computer are installed on the broadside through the rigid support, and are recovered to the deck at ordinary times so as to be convenient for maintenance and are laid in water during work.
The installation mode at the bottom of the ship and the side-hung mode are simple, and are the current mainstream method, but the ship sails on the water surface and is easily influenced by wind, waves and currents on the sea surface, so that the attitude stability is difficult to control; the detection device deep into the sea water also floats up and down under the influence of ocean currents, undercurrents and ship body shaking under the sea surface. Simultaneously, when adopting hull bottom mounting means and topside hanging mode, be rigid connection between sonar and the hull, on the vibration of hull and noise transmitted the sonar easily, caused the interference to sonar work. Therefore, the use of the sonar equipment in the ship bottom installation mode and the shipboard hanging mode is greatly limited, and the detection effect is difficult to ensure.
In the prior art, an acoustic evaluation system deep into seawater cannot accurately correct the position of the acoustic evaluation system due to the influence of natural factors during correction, and the obtained position has large floating and influences the measurement accuracy.
Disclosure of Invention
Aiming at the problem that the existing acoustic evaluation system can not detect the accurate position of the acoustic evaluation system through cable length, tension, strength, position, posture and the like in correction, the technical scheme aims to: through the state of the real-time observation cable for the detection personnel can be more accurate judgement bobble position and atress condition, thereby ensure not to break the cable because of the exogenic action, realize that the winch is automatic to receive and release through plc control, utilize the counter meter of winch self, monitor the pulling force, receive and release acoustics evaluation system automatically, obtain more accurate acoustics evaluation system's position in real time.
In order to achieve the purpose, the invention adopts the technical scheme that: an intelligent position correction device for an acoustic evaluation system comprises a controller, a cable arrangement device arranged on a ship body, and a detection calculation module used for detecting the tension of a cable and calculating the tension; the cable laying device is provided with at least three groups, at least one group of cable laying device is not in the same line with other cable laying devices, the cable laying device comprises a cable for putting in the acoustic evaluation system, the free end of the cable is connected to the same connector through the cable laying device, and the connector is also connected with a measuring device for measuring; the detection and calculation module sends a signal of cable tension to the controller, and the controller can control the length and the speed of the cable thrown in the winch by controlling the opening and closing of the motor.
The intelligent position correction equipment for the acoustic evaluation system comprises a cable tension detector and a calculator, wherein the cable tension detector is arranged on a cable arrangement point and used for detecting cable tension, the calculator is used for receiving signals of the cable tension detector, calculating, comparing and summarizing the signals and sending the signals to the controller, the cable tension detector sends the detected cable tension to the calculator in real time, the calculator sends results to the controller in real time after summarizing, comparing and analyzing the signals of the cable tension detector, the controller controls corresponding motors to operate in real time according to the results transmitted by the calculator, and the motors drive the winches to throw in or recover the cables in real time so that the measuring device is in a relatively stable state.
Foretell an intelligent position correction equipment for acoustics evaluation system, the cable is laid the device and is triangle-shaped and arrange, including setting up the first cable laying device on the left side ship board of hull, set up second cable laying device, third cable laying device on the right side ship board of hull, the distance between second cable laying device, the third cable laying device is greater than the distance between the left and right sides ship board of hull, and the projection of first cable laying device is located the mid point of second laying device, third laying device line.
The intelligent position correction equipment for the acoustic evaluation system comprises a cable laying device, a cable laying device and a counter, wherein the cable laying device further comprises a winch for pulling and throwing the cable and a driving motor for driving the winch, one end of the cable is connected to the winch, and the winch is provided with the counter for calculating the length of the cable.
The first cable laying device, the second cable laying device and the third cable laying device are respectively provided with a first cable, a second cable and a third cable, a first winch, a second winch and a third winch are used for throwing in the cables, a first motor, a second motor and a third motor are used for driving the winches to work, and the first motor, the second motor and the third motor are respectively connected with a controller used for controlling the motors to start and stop; and the first cable, the second cable and the third cable are respectively provided with a first cable tension detector, a second cable tension detector and a third cable tension detector which are used for detecting the tension of the cables.
The intelligent position correction equipment for the acoustic evaluation system is characterized in that a first extension bracket for ensuring that the cable leaves the ship body is installed in front of the first winch, the first extension bracket comprises a first extension arm, and a first pulley for reducing the friction force of cable winding and unwinding is arranged at the front end of the first extension arm; a second expansion bracket used for ensuring that the cable leaves the ship body to be specific is arranged in front of the second winch, the second expansion bracket comprises a second expansion arm, and a second pulley used for reducing the friction force of cable winding and unwinding is arranged at the front end of the second expansion arm; and a third expansion bracket used for ensuring that the cable leaves the ship body to be specific is arranged in front of the third winch, the third expansion bracket comprises a third expansion arm, and the front end of the third expansion arm is provided with a third pulley used for reducing the friction force of cable winding and unwinding.
In the above intelligent position correction device for an acoustic evaluation system, the connector is a fish lead, the measuring device is a measuring ball, the distance between the measuring ball and the fish lead is more than twice the wavelength, and the weight of the fish lead is determined according to the relative size of the ocean current.
According to the intelligent position correction device for the acoustic evaluation system, the cable is provided with the length mark for marking the cable, and the length mark is used for measuring and calculating the cable throwing length.
The correction method using the intelligent position correction device for the acoustic evaluation system comprises the following steps:
a. the cable tension detector detects the tension of the cable with the lead fish and sends a cable tension signal to the calculator in real time;
b. the calculator compares the signals sent by the cable tension detector, calculates the minimum value and the maximum value of the cable tension, calculates the value of the cable tension reaching the balance point, and sends the signals to the controller in real time;
c. the controller controls the driving motor to drive the winch to throw in and recycle the cable in real time according to the signal sent by the calculator;
d. in the process of releasing and recovering the cable, repeating the steps a-c, when the difference value of the calculation result of the cable tension signal sent by the calculator in real time according to the cable tension detector is a preset value, sending a signal to the controller by the calculator, and controlling the motor to stop driving the winch to release and recover the cable by the controller;
e. when the throwing and the recovery of the cable are stopped, the calculator calculates the length of the throwing and the recovery of the cable according to the time for controlling the motor to drive the winch to throw and recover the cable by the controller, and accurately calculates the distance between the fish lead and the ship body according to the relation of three-line positioning.
The intelligent position correction device for the acoustic evaluation system has the beneficial effects that:
1. the stress state of the cable is detected in real time, the detection and calculation module sends a signal to the controller, the driving motor is controlled to drive the winch to work through real-time transmission of the signal, the cable is adjusted in real time according to the tension state of the cable, the stress state of the cable is enabled to be in a relatively stable state, the position of the acoustic evaluation system is controlled to be in a stable state, and detection precision is improved.
2. The stability is improved through the triangular arrangement of the cable arrangement device, the stress uniformity degree of the acoustic evaluation system can be improved, the position of the acoustic evaluation system is accurately obtained by using a three-line positioning mode on the basis that the length of the cable is determined by counting the meter of a counter of the winch, and the measurement precision is improved.
3. The multi-wire traction acoustic evaluation system is used, the cable cannot be broken due to the action of external force, the automatic winding and unwinding of the cable on the winch are realized through the control of the controller, the control of stopping, decelerating and accelerating can be realized in the winding and unwinding process, and the position of the acoustic evaluation system can be more accurately obtained in real time.
Drawings
FIG. 1 is a schematic top view of the present invention;
FIG. 2 is a schematic view of the overall structure of the present invention;
FIG. 3 is a schematic view of the installation of the apparatus of the present invention;
FIG. 4 is a schematic diagram of the working method of the present invention.
Detailed Description
In order to make the content of the present invention better understood for those skilled in the art, the present invention will be further described with reference to the following detailed description and the accompanying drawings.
As shown in fig. 1-3, an intelligent position calibration device for an acoustic evaluation system comprises a controller, a cable laying device installed on a ship body 5, a detection and calculation module for detecting cable tension and calculating the cable tension, the detection and calculation module comprises a cable tension detector arranged at a cable laying point and used for detecting the cable tension, and a calculator for receiving signals of the cable tension detector, calculating, comparing and summarizing signals and sending the signals to the controller, the cable tension detector sends the detected cable tension to the calculator in real time, the calculator sends the results to the controller in real time after summarizing, comparing and analyzing the signals of the cable tension detector, the controller controls corresponding motors to operate in real time according to the results transmitted by the calculator, and the motors drive winches to lay or retrieve cables in real time, the measuring device is brought into a relatively stable state.
The cable distribution device is provided with at least three groups, at least one group of cable distribution device is not in the same straight line with other cable distribution devices, the cable distribution device is arranged in a triangular shape, and comprises a first cable distribution device 1 arranged on a ship board on the left side of a ship body, a second cable distribution device 2 and a third cable distribution device 3 arranged on a ship board on the right side of the ship body, the distance between the second cable distribution device and the third cable distribution device is larger than that between ship boards on the left side and the right side of the ship body, and the projection of the first cable distribution device is positioned on the middle point of the connecting line of the second cable distribution device and the third cable distribution device.
The first cable laying device, the second cable laying device and the third cable laying device are respectively provided with a first cable 11, a second cable 21 and a third cable 31, a first winch 12, a second winch 22 and a third winch 32 for throwing in the cables, a first motor 13, a second motor 23 and a third motor 33 for driving the winches to work, and the first motor, the second motor and the third motor are respectively connected with a controller for controlling the start and stop of the motors; the variable frequency motor is connected with the winch in a 9-pin aviation plug mode; the first cable, the second cable and the third cable are respectively provided with a first cable tension detector 14, a second cable tension detector 24 and a third cable tension detector 34 for detecting cable tension, the first winch 12, the second winch 22 and the third winch 32 are respectively provided with a first cable meter 16, a second cable meter 26 and a third cable meter 36 for calculating the length of the thrown cable, and the first cable meter, the second cable meter and the third cable meter send length signals of the thrown cable to the detection and calculation module.
An expansion bracket I15 used for ensuring that the cable leaves the ship body is installed in front of the winch I, the expansion bracket I comprises an expansion arm I151, and a pulley I152 used for reducing the friction force of cable winding and unwinding is arranged at the front end of the expansion arm I; a second expansion bracket 25 for ensuring that the cable leaves the ship body in a certain specific manner is arranged in front of the second winch, the second expansion bracket comprises a second expansion arm 251, and a second pulley 252 for reducing the friction force for winding and unwinding the cable is arranged at the front end of the second expansion arm; and a third expansion bracket 35 for ensuring that the cable leaves the ship body in a certain specific manner is arranged in front of the third winch, the third expansion bracket comprises a third expansion arm 351 and a third pulley 352 for reducing the friction force for winding and unwinding the cable is arranged at the front end of the third expansion arm.
The free ends of the first cable, the second cable and the third cable are connected to the same connector after passing through the cable laying device, and the connector is also connected with a measuring device for measurement; the detection and calculation module sends a signal of cable tension to the controller, and the controller can control the length and the speed of the cable thrown in the winch by controlling the opening and closing of the motor, so that the measuring device is ensured to be in a relatively stable state, and the measuring precision is improved.
The connector is a fish lead 4, the measuring device is a measuring ball, the distance between the measuring ball and the fish lead is more than twice the wavelength, and the weight of the fish lead is determined according to the relative size of the ocean current.
The cable is provided with a length mark for marking the cable, and the length mark is used for measuring and calculating the throwing length of the cable.
A correction method for an intelligent position correction device for an acoustic evaluation system, characterized by: the method comprises the following steps:
a. the cable tension detector detects the tension of the cable with the lead fish and sends a cable tension signal to the calculator in real time;
b. the calculator compares the signals sent by the cable tension detector, calculates the minimum value and the maximum value of the cable tension, calculates the value of the cable tension reaching the balance point, and sends the signals to the controller in real time;
c. the controller controls the driving motor to drive the winch to throw in and recycle the cable in real time according to the signal sent by the calculator;
d. in the process of releasing and recovering the cable, repeating the steps a-c, when the difference value of the calculation result of the cable tension signal sent by the calculator in real time according to the cable tension detector is a preset value, sending a signal to the controller by the calculator, and controlling the motor to stop driving the winch to release and recover the cable by the controller;
e. when the throwing and the recovery of the cable are stopped, the calculator calculates the length of the throwing and the recovery of the cable according to the time for controlling the motor to drive the winch to throw and recover the cable by the controller, and accurately calculates the distance between the fish lead and the ship body according to the relation of three-line positioning.
The specific use method is as follows:
1. preparatory work before correction
In the voyage planning, the acoustic correction of the scientific fish finder generally reserves 1-2 days, including winch and measurement pellet arrangement, single target echo acquisition of the measurement pellet and the like, wherein the measurement pellet adopts a standard pellet. Meanwhile, at least 4 persons are required to participate in the whole correction process, and the task division and the operation process familiarity are determined before the correction is started.
Familiar with the shipborne scientific fish finder equipment, includes transducer mounting locations, WBT (EK60 is GPT) connections, and EK80 operating software. Wherein, the accurate installation position of the transducer is determined to be important for the successful implementation of the subsequent calibration. 3 winch (nylon line) deployment positions were selected according to the transducer position. In general, 1 fixed point on the port is just opposite to the transducer, and a deck layer convenient to operate is selected; and 2 starboard fixing points which are respectively positioned at the front and rear distances of the transducer. Four frequency transducers, Xuelon No. 2 EK80, are mounted near the port side below the forward bulkhead, with the location of the three fixed points at the 5-level deck.
2 standard balls were prepared, 1 of which was ready for use. It is recommended to use a 38.1mm diameter steel ball of tungsten carbide (WCsphere, suitable for frequencies of 38-200 kHz); a weight weighing about 1-2kg (it is recommended to prepare the fish lead as a weight in advance), and in case of a relatively large ocean current, the weight can be increased appropriately to increase the stability of the pellets in the beam; the CTD temperature and salt deep section instrument is used for measuring temperature and salinity profile data of a correction site; performing acoustic correction by adopting a three-point fixing mode, wherein 3 nylon wires with the length of 0.5mm need to be prepared, and the length of 0.5mm is used under the conditions of ship anchoring and small ocean current; if the ocean current is large, the weight needs to be increased, the length of each line exceeds 80M, a rope buckle is made at one end, and 3M adhesive tapes with different colors are marked at the positions, 30M, 40M and 50M away from the rope buckle, of each nylon line respectively so as to carry out depth estimation when a standard ball is put down; the calibration winches and their remote control devices can also be prepared specially in advance, wherein the cable length for controlling each winch is designed according to the distance between the software installation computer of the physical laboratory EK80 No. 2 of the Xuelong and the three winch fixed points.
2 nylon wires with the length of about 2m and the diameter of 8m of 0.5mm are prepared, and rope buckles are respectively made at the two ends of each nylon wire, so that the rope knot is as small as possible on the premise of ensuring firmness so as to avoid acoustic interference on a standard ball. The nylon wire of 2m is used for hanging the standard ball, the nylon wire of 8m is used for hanging the pouring weight, the pouring weight is heavier, adopt double strand nylon wire. To avoid acoustic scattering interference, the distance between the pellet and the weight should be greater than 2 wavelengths, i.e. should be >2c τ, where c is the speed of sound and τ is the pulse length, and krill resource survey is generally set to 1.024 ms.
The intercom 4 part was prepared for the communication of the EK80 software control room with each nylon cable deck fixing point.
Areas that are relatively closed and have a small current are selected, the water depth exceeds 40m, and the vessel is anchored in good sea conditions. In the 12-month Antarctic survey in 2019, the acoustic correction was selected for the region of lesser water flow velocity in the Peez Bay, specifically at 68 ° 19.47 'S, 75 ° 07.52' E. The location may provide a reference for region selection for subsequent acoustic correction.
2. Main correction process
And (3) system checking: checking the connection of EK80 transceiver (WBT) with the control software computer (processing unit) and transducer to confirm that WBT of all frequencies is grounded and working properly; turning on the built-in self test module (BITE) of the EK80 system, checking the impedance and phase of the Transducer, the impedance (Impactor) of the Transducer unit in normal operation should be 75 Ω + -40%, and if it is beyond this range, further checking the EK80 system connection.
And (3) starting a system: and the WBT software and the EK80 software are started in sequence to control the power supply of the computer, and the EK80 software is started. It is recommended to record the main parameters of the EK80 system transducer currently applied at this step, mainly from the last acoustic correction, including transducer gain, beam angle, Sacorrection, etc., so as to compare the correction result;
setting system parameters: setting system parameters (Normal Operation) according to the investigation requirement, wherein the system parameters mainly comprise a pulse form (CW or FM mode), a transmission power (power), a pulse length (pulse duration) and a pulse interval (ping interval, which is set to 1000 ms); it should be noted that, in the system parameter setting, the rest parameters except the pulse interval need to be set to be used in the investigation, and if any one of the parameters is changed, the acoustic correction needs to be performed again;
setting environmental parameters: collecting a temperature-salinity profile from a surface layer to a water layer where the standard ball is located by using CTD (computer-to-device) and calculating an average temperature-salinity value of the water layer and inputting the average temperature-salinity value to a corresponding position in an Environment module, wherein the average temperature-salinity value is 0-50 m;
acoustic data storage: original acoustic data (raw data) used for acoustic correction is independently established in a folder, so that later data inspection is facilitated;
before the acoustic correction is started, a standard ball for correction is soaked into a soap solution for more than 30min in advance by adopting a 38.1mm tungsten carbide steel ball so as to eliminate possible oil stains on the surface of the standard ball;
fixing winches at three fixed points to corresponding positions of a deck layer in advance, guiding a nylon wire buckle of a second cable arrangement device on a starboard to a third cable arrangement device, and firmly tying the nylon wire buckle to prevent the nylon wire buckle from sliding;
before the ship is anchored, according to the draught of the ship and the convenient operation, guiding 1 mooring rope with the length of at least 60m to the lower part of the energy converter from the lower part of the bow, wherein the length of the mooring rope is 2 times longer than the distance from the energy converter to the first cable arrangement device on the port;
connecting a rope buckle made in advance of a nylon wire of the port first cable arrangement device with a terminal of a cable rope on the starboard, adding a weight at a connecting point to facilitate operation, and slowly retracting the starboard cable rope to guide the nylon wire of the first cable arrangement device to the connecting point of the starboard second cable arrangement device and the third cable arrangement device; in the process, the nylon wire of the first cable laying device on the port side is kept under proper stress;
the nylon wires of the three cable laying devices are buckled and combined together in advance, and a standard ball and a heavy block are respectively hung on the connecting points; the knots at the joints of all nylon ropes are required to be as small as possible on the premise of ensuring firmness;
sequentially placing the weight and the standard ball from the first cable arrangement device, the second cable arrangement device and the third cable arrangement device; in the process, the standard ball cannot touch the ship body, and meanwhile, the nylon wires of the first cable arrangement device and the second cable arrangement device and the nylon wires of the third cable arrangement device are slowly recovered and released, so that 3 nylon wires are always in a stressed state;
slowly lower the standard ball to the lower part of the transducer, the distance of the standard ball from the transducer surface should be more than 10m, the wave beam coverage of the transducer is increased along with the increase of the depth, the echo signal of the standard ball is easier to acquire, but the difficulty of subsequently adjusting the position of the standard ball in the wave beam can be increased. According to the three-point fixed position, the depth of the acoustic correction standard ball is recommended to be 20-30m below the converter; in the process of being under the standard ball, whether a stable standard ball echo signal appears in the echo image or not is closely observed;
if the single echo signal is not found in the process of lowering the standard ball, all three nylon wires can be tried to be released to a mark with the same length, such as 50m, which is made in advance, the release length of each nylon wire is adjusted according to the inclination angle and the stress condition of each nylon wire until a stable single echo signal of the standard ball appears in an echo image, and the wind direction and the flow direction can be combined in the adjustment process.
Opening a single target detection window in EK80 software, observing the distribution of single targets in each frequency beam position, and selecting the frequency of a standard ball closest to the center of the beam by the port to acquire the signal of the standard ball single target in the next step;
adjusting the working mode of EK80 at other frequency to Passive mode 'Passive', opening 'Calibration' module, selecting the type of standard ball for Calibration at this step, setting TS devision, generally adopting default setting of 5dB, and the range of water layer where the standard ball is located, generally setting the depth range of upper and lower water layers to be 4-5m, so as to reduce the entering of fish or other interference signals into the water layer;
the length of a nylon line at the three points is adjusted, so that an echo signal of a standard ball traverses all wave beam quadrants, when the number of sampling points of a certain quadrant meets requirements, the wave beam is displayed to be green, EK60 has no function, at least more than 100 sampling points are needed, and sufficient sampling points at the center position of a wave beam and the sampling points of all the quadrants are uniformly distributed as much as possible; note that the sampling points should cover the entire beam as uniformly as possible when time allows; when the echo signal of the standard ball is collected, observing the echo image and recording whether a monomer target signal from the standard ball is present in a correction water layer;
after the correction of a certain frequency is completed, a correction data file is selected and saved, the name of the data file should indicate information such as frequency, pulse length, transmission power and the like, for example, CalibrationDataFile-xxxxx _ CW _1.024ms _250w _120kHz.xml, so that the subsequent data analysis and tracing are facilitated;
repeating the steps b-d to finish the acoustic correction of all frequencies of the EK 80;
opening an EK80 'Calibration' module, selecting to Reprocess correction data 'reproduction previous Calibration data', finding out stored acoustic correction files of various frequencies, and excluding single target signals from the outside of the standard ball according to correction records;
observing error analysis of each frequency correction result, if the root mean square error is 'RMS error' is less than 0.2dB, indicating that the correction result is ideal, and selectively updating the correction result to an EK80 system; if RMS error is >0.2dB but <0.4dB, it indicates that the correction result is not ideal, but acceptable, the EK80 system should be updated carefully; if RMS error is >0.4dB, which indicates a poor correction result, it is not recommended to update the system and the corresponding frequency should be corrected again.
The above-mentioned embodiments are only for illustrating the structural conception and the characteristics of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to implement the present invention, and the protection scope of the present invention is not limited thereby. All equivalent changes or modifications made according to the spirit of the present disclosure should be covered within the scope of the present disclosure.
Claims (9)
1. An intelligent position correction apparatus for an acoustic evaluation system, comprising a controller, and a cable laying device mounted on a hull, characterized in that: the device also comprises a detection and calculation module for detecting the tension of the cable and calculating the tension; the cable laying device is provided with at least three groups, at least one group of cable laying device is not in the same line with other cable laying devices, the cable laying device comprises a cable for putting in the acoustic evaluation system, the free end of the cable is connected to the same connector through the cable laying device, and the connector is also connected with a measuring device for measuring; the detection and calculation module sends a signal of cable tension to the controller, and the controller can control the length and the speed of the cable thrown in the winch by controlling the opening and closing of the motor.
2. The intelligent position correction apparatus for an acoustic evaluation system according to claim 1, characterized in that: the detection and calculation module comprises a cable tension detector and a calculator, wherein the cable tension detector is arranged on the cable arrangement point and used for detecting cable tension, the calculator is used for receiving signals of the cable tension detector, calculating, comparing and summarizing the signals and sending the signals to the controller, the cable tension detector sends detected cable tension to the calculator in real time, the calculator sends results to the controller in real time after summarizing, comparing and analyzing the signals of the cable tension detector, the controller controls corresponding motors to operate in real time according to the results transmitted by the calculator, and the motors drive the winch to throw in or recycle cables in real time so that the measuring device is in a relatively stable state.
3. The intelligent position correction apparatus for an acoustic evaluation system according to claim 2, characterized in that: the cable arranging device is arranged in a triangular mode and comprises a first cable arranging device arranged on a ship board on the left side of a ship body, a second cable arranging device and a third cable arranging device arranged on a ship board on the right side of the ship body, the distance between the second cable arranging device and the third cable arranging device is larger than the distance between ship boards on the left side and the right side of the ship body, and the projection of the first cable arranging device is located on the middle point of the connecting line of the second cable arranging device and the third cable arranging device.
4. The intelligent position correction apparatus for an acoustic evaluation system according to claim 1, characterized in that: the cable laying device further comprises a winch used for pulling and throwing the cable and a driving motor used for driving the winch, one end of the cable is connected to the winch, and a counter used for calculating the length of the cable is arranged on the winch.
5. The intelligent position correction apparatus for an acoustic evaluation system according to claim 3, characterized in that: the first cable laying device, the second cable laying device and the third cable laying device are respectively provided with a first cable, a second cable and a third cable, a first winch, a second winch and a third winch are used for throwing in the cables, a first motor, a second motor and a third motor are used for driving the winches to work, and the first motor, the second motor and the third motor are respectively connected with a controller used for controlling the motors to start and stop; and the first cable, the second cable and the third cable are respectively provided with a first cable tension detector, a second cable tension detector and a third cable tension detector which are used for detecting the tension of the cables.
6. The intelligent position correction apparatus for an acoustic evaluation system according to claim 5, characterized in that: a first expansion bracket used for ensuring that the cable leaves the ship body specifically is arranged in front of the first winch, the first expansion bracket comprises a first expansion arm, and a first pulley used for reducing the friction force of cable winding and unwinding is arranged at the front end of the first expansion arm; a second expansion bracket used for ensuring that the cable leaves the ship body to be specific is arranged in front of the second winch, the second expansion bracket comprises a second expansion arm, and a second pulley used for reducing the friction force of cable winding and unwinding is arranged at the front end of the second expansion arm; and a third expansion bracket used for ensuring that the cable leaves the ship body to be specific is arranged in front of the third winch, the third expansion bracket comprises a third expansion arm, and the front end of the third expansion arm is provided with a third pulley used for reducing the friction force of cable winding and unwinding.
7. The intelligent position correction apparatus for an acoustic evaluation system according to claim 1, characterized in that: the connector is a fish lead, the measuring device is a measuring ball, the distance between the measuring ball and the fish lead is more than twice the wavelength, and the weight of the fish lead is determined according to the relative size of the ocean current.
8. The intelligent position correction apparatus for an acoustic evaluation system according to claim 1, characterized in that: the cable is provided with a length mark for marking the cable, and the length mark is used for measuring and calculating the throwing length of the cable.
9. The correction method of the intelligent position correction apparatus for acoustic evaluation system according to claims 1 to 7, characterized in that: the method comprises the following steps:
a. the cable tension detector detects the tension of the cable with the lead fish and sends a cable tension signal to the calculator in real time;
b. the calculator compares the signals sent by the cable tension detector, calculates the minimum value and the maximum value of the cable tension, calculates the value of the cable tension reaching the balance point, and sends the signals to the controller in real time;
c. the controller controls the driving motor to drive the winch to throw in and recycle the cable in real time according to the signal sent by the calculator;
d. in the process of releasing and recovering the cable, repeating the steps a-c, when the difference value of the calculation result of the cable tension signal sent by the calculator in real time according to the cable tension detector is a preset value, sending a signal to the controller by the calculator, and controlling the motor to stop driving the winch to release and recover the cable by the controller;
e. when the throwing and the recovery of the cable are stopped, the calculator calculates the length of the throwing and the recovery of the cable according to the time for controlling the motor to drive the winch to throw and recover the cable by the controller, and accurately calculates the distance between the fish lead and the ship body according to the relation of three-line positioning.
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Application publication date: 20210618 |