CN1614441A - Automatic underwater object positioning method and system - Google Patents
Automatic underwater object positioning method and system Download PDFInfo
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- CN1614441A CN1614441A CN 200410065409 CN200410065409A CN1614441A CN 1614441 A CN1614441 A CN 1614441A CN 200410065409 CN200410065409 CN 200410065409 CN 200410065409 A CN200410065409 A CN 200410065409A CN 1614441 A CN1614441 A CN 1614441A
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Abstract
A method for positioning target under water automatically includes using wirerope on the ship to sink detection device down to water bottom at water area of target to be positioned and confirming its position through image; arranging sound wave receiversin linear array of intervals on water surface, launching sound wave to wards water surface by emitter; sending sound wave signal to computer for calculating out time difference, water depth and target water surface projection position value displayed in curve.
Description
Technical field
The present invention relates to a kind of automatic underwater object positioning method, especially a kind of being suitable for, carry out Kinematic Positioning and provide automatic underwater object positioning method and the system thereof of submarine target at water surface projected position in real time submarine target in muddy water, large-flow rate water body, the disorderly fluidised form water body waters.
Background technology
The location is widely used in fields such as national defence, water conservancy construction, hydraulic engineering, salvaging under water, and its method commonly used is to position by sonar system and underwater tv equipment etc.But the current water big at flow velocity, that water body is muddy and fluidised form is disorderly, when in the Large River such as the Changjiang river, the Yellow River the target in the water being positioned, its physical location that records can't accurately be located by the influence of current, especially its projected position at the water surface often can't be determined, can produce bigger error when causing practical operation, influence work efficiency.When bank protection is arranged in a kind of water, if can't determine the border of having arranged, then may influence the correct overlap joint of waiting to arrange and having arranged, gently then influence project progress and benefit, increase the workload of the undersea detection and the row of benefit, heavy then produce quality accidents such as uncoupling, have only when correctly determining to treat the water surface projected position of overlap edge, could accurately overlap, and existing underwater positioning system all adopts sound wave emissions and the method that reception is positioned at the bottom simultaneously to carry out, can't find submarine target easily and accurately reflect submarine target in the vertical projection position of the water surface, and along with its precision of continuous variation of the depth of water sharply descends.In addition, when in deep water or hydrologic condition foul water abominable, that the frogman can't arrive, looking into dangerous leak stopping, Underwater Engineering, salvaging hypostasis, also need to find earlier definite submarine target and its projected position at the water surface is accurately located.All this kind has only submarine target after the projection of the water surface is accurately located, and could operate accurately submarine target by calculating or error correction.And still do not have at present a kind of easy, can be used for determining that submarine target is available in the method or the system of water surface vertical projection position fast.
Summary of the invention
The purpose of this invention is to provide a kind of submarine target that is used for and also can accurately reflect its automatic underwater object positioning method and system in the location automatically at water surface projected position.
Technical scheme of the present invention is:
A kind of automatic underwater object positioning method is characterized in that comprising the following steps:
A, to link to each other with wirerope by wirerope from the ship, pop one's head in by underwater television, the undersea detection device that underwater sound wave emitting head and depth of water probe are formed roughly sinks under water in the waters from required localizing objects, and each probe in the sniffer is linked to each other with corresponding controller and the main control receiving system of being made of computing machine on being installed in ship, moving of position control sniffer by mobile ship and/or wirerope, until the underwater television probe to being installed on the ship, the image that controller that links to each other with the underwater television probe and graphoscope have been carried the required localizing objects that meets the demands; Depth of water probe is delivered to the water signal of target present position in the computing machine receiving system by its controller simultaneously;
B, the acoustic receiver that will match with the underwater sound wave emitting head are arranged to wire sound wave receiving array at interval at the water surface, and each acoustic receiver is linked to each other with above-mentioned control receiving trap;
C, start the work of underwater sound wave emitting head, to water surface emission sound wave each acoustic receiver to the sound wave receiving array by the control receiving trap;
The acoustic signals that d, each acoustic receiver will receive is separately delivered in the control receiving system, by control in the receiving system the computing machine automatic interpretation and note the time that each acoustic receiver is transmitted the underwater sound wave emitting head emitting sound wave of coming, and it is poor to calculate each acoustic receiver time of reception under software control automatically;
E, computing machine time of reception difference and the Water Depth Information that transmits of the depth of water probe water surface projected position value that calculates submarine target automatically by analyzing each acoustic receiver, and show on display screen with curve (minimum point of curve is the projected position value) demonstration, thereby realization is to the location of submarine target.
Described in the said method:
Acoustic receiver in wire (can be linearity, also can be curve-like) the sound wave receiving array that the water surface is provided with is equidistant layout.
The quantity that is the acoustic receiver of equidistant layout is six.
Described wire sound wave receiving array and described ship link to each other and with its interlock.
Said method can adopt following system to be realized:
A kind of submarine target automatic station-keeping system, main underwater television device, the underwater sound wave R-T unit, depth of water sniffer, computer system is formed, the underwater television device is mainly popped one's head in by underwater television, Video Controller and display device are formed, the underwater sound wave R-T unit is by the underwater sound wave transmitting probe, some acoustic receiver harmony wave controllers are formed, depth of water sniffer mainly comprises depth of water sensor and depth of water controller, computer system is installed on the ship, it is characterized in that the underwater television probe in the underwater television device, underwater sound wave transmitting probe in the underwater sound wave R-T unit, depth of water sensor in the depth of water sniffer is fixedly mounted on the carrier (fish lead) that sinks in the water body simultaneously, this carrier links to each other with wirerope gearing on the ship by wirerope, underwater television probe links to each other with Video Controller and display device on being installed in ship by vision cable, depth of water sensor links to each other with computer system by depth of water transmission line and depth of water controller, and the underwater sound wave transmitting probe links to each other by the sound wave controlled device that control transmission line and its are installed on the ship; Vision cable, depth of water transmission line, control transmission line all link to each other with cable gearing on the ship, some acoustic receivers in the underwater sound wave R-T unit are installed in ship on the support rigidly connected and interlock with it at interval, support is positioned at the water surface or below the water surface, thereby make corresponding acoustic receiver also be positioned at the water surface or below the water surface, each acoustic receiver also links to each other with computer system by transmission line separately and the sound wave controlled device that is installed on the ship thereof.
Also taked following technical measures in the system of the present invention:
Rack-mount acoustic receiver is uniformly-spaced arranges that its quantity can be six.
Support is linearity rigid structure or curve-like rigid structure.
Support is parallel with the water surface.
Beneficial effect of the present invention:
1, adopts the easy quick searching of underwater television mode and definite submarine target, reduce cost and difficulty is set, satisfy the Kinematic Positioning requirement.
2, receiving fixedly by the bistatic and the water surface first, linear array has solved the orientation problem of submarine target at water surface projected position.
3, by the quoting of depth of water detection data, reduce or eliminate the error of sound wave in water body is propagated, can more accurate reflection target vertical projection position, the influence that positional accuracy is not changed by the depth of water.
4, be applicable in various water bodys and use, be particularly suitable for big at flow velocity, water body is muddy, the kinetic measurement in the disorderly serious water body of fluidised form, as using in the great rivers such as the Changjiang river, the Yellow River.
5, the method and system device structure is simple.Receive linear array and ship and be connected and fixed, probe action control is under water finished by accessory drive system, and positioning relation can corresponding mobile ship after determining.
Description of drawings
Fig. 1 is an audiolocation principle schematic of the present invention.
Fig. 2 is the present invention and positioning system structural representation.
Fig. 3 is a software flow block diagram of the present invention.
Fig. 4 is the structural representation of carrier of the present invention.
Fig. 5 is carrier, the gearing syndeton synoptic diagram in the positioning system of the present invention.
Fig. 6 is a underwater television principle of work synoptic diagram of the present invention.
Fig. 7 is the structured flowchart of the positioning system of the embodiment of the invention.
Fig. 8 be the present invention under water hinge apply among the worker location principle of work schematic block diagram when using deeply.
Fig. 9 is a mattress sinking structural representation of the present invention.
Figure 10 is the connection principle schematic block diagram of the embodiment of the invention.
1 is the underwater television probe in Fig. 1～10, and 2 is display device, and 3 is the underwater sound wave transmitting probe, 4 is that acoustic receiver 4,5 is a depth of water sensor, and 6 is computer system, 7 is installation vessel, 8 is carrier (fish lead), and 9 is wirerope, and 10 is suspension hook, 11 is support, 12 is displacement controlled, and 13 is the wirerope guide wheel, and 14 is cable winch, 15 is empennage, 16 is cable sheave, and 17 is the twisted and released of the cable wheel hub, and 18 are mattress sinking, 19 is transmission cable, 1 ' be Video Controller, 3 ' be the sound wave controlled device, 5 ' be depth of water controller.
Embodiment
The present invention is further illustrated below in conjunction with drawings and Examples.
Shown in Fig. 1,3,4,5,6.
A kind of mattress sinking automatic positioning method of hinge under water and system, its localization method is:
A, to link to each other with wirerope by wirerope from the ship, pop one's head in by underwater television, the undersea detection device that underwater sound wave emitting head and depth of water probe are formed roughly sinks under water in the waters from required localizing objects, and each probe in the sniffer is linked to each other with corresponding controller and the main control receiving system of being made of computing machine on being installed in ship, moving of position control sniffer by mobile ship and/or wirerope, until the underwater television probe to being installed on the ship, the image that controller that links to each other with the underwater television probe and graphoscope have been carried the required localizing objects that meets the demands; Depth of water probe is delivered to the water signal of target present position in the computing machine receiving system by its controller simultaneously;
B, the acoustic receiver that will match with the underwater sound wave emitting head are arranged to wire sound wave receiving array at interval at the water surface, and each acoustic receiver is linked to each other with above-mentioned control receiving trap;
C, start the work of underwater sound wave emitting head, to water surface emission sound wave each acoustic receiver to the sound wave receiving array by the control receiving trap;
The acoustic signals that d, each acoustic receiver will receive is separately delivered in the control receiving system, by control in the receiving system the computing machine automatic interpretation and note the time that each acoustic receiver is transmitted the underwater sound wave emitting head emitting sound wave of coming, and it is poor to calculate each acoustic receiver time of reception under software control automatically;
E, computing machine time of reception difference and the Water Depth Information that transmits of the depth of water probe water surface projected position value that calculates submarine target automatically by analyzing each acoustic receiver, and show on display screen with curve (minimum point of curve is the projected position value) demonstration, thereby realization is to the location of submarine target.
The acoustic receiver in the wire sound wave receiving array of water surface setting described in the said method is equidistant layout, described wire can be linearity, also can be curve-like, and what present embodiment adopted is linearity, its length is 2 meters, is on it equidistantly to be furnished with six acoustic receivers.Described wire sound wave receiving array link to each other with described ship by support and with the ship interlock.
Realize the submarine target automatic station-keeping system of said method, as Fig. 2,4,5, shown in 6, main underwater television device, the underwater sound wave R-T unit, depth of water sniffer, computer system is formed, the underwater television device is mainly by underwater television probe 1, Video Controller 1 ' and display device 2 compositions, the underwater sound wave R-T unit is by underwater sound wave transmitting probe 3, six acoustic receivers 4 (i.e. one six receipts system) and sound wave controlled device a 3 ' composition, depth of water sniffer mainly comprise depth of water sensor 5 and depth of water controller 5 ', computer system 6 is installed on the ship 7, underwater television probe 1 in the underwater television device, underwater sound wave transmitting probe 3 in the underwater sound wave R-T unit, depth of water sensor 5 in the depth of water sniffer is fixedly mounted on the carrier 8 (can be described as fish lead again) that sinks in the water body simultaneously, this carrier 8 links to each other with wirerope gearing (as shown in Figure 5) on the ship 7 by the suspension hook 10 on it and wirerope 9, underwater television probe 1 by vision cable be installed in ship 7 on Video Controller 1 ' and display device link to each other, depth of water sensor 5 is by depth of water transmission line and depth of water controller 5 ' link to each other with computer system 6, and underwater sound wave transmitting probe 3 is installed in sound wave controlled device 3 on the ship 7 ' link to each other by control transmission line and base; Six acoustic receivers 4 in the underwater sound wave R-T unit uniformly-spaced be installed in rigidity rigidly connected and interlock with it, linear structure, the parallel support 11 of ship 7 with the water surface on, support 11 is positioned at the water surface or the water surface following (is the best to be positioned at below the water surface), thereby make corresponding six acoustic receivers 4 also be positioned at the water surface or below the water surface, six acoustic receivers 4 by separately transmission line and be installed in sound wave controlled device 3 on the ship 7 ' link to each other with computer system 6; Vision cable, depth of water transmission line, control transmission line all link to each other with cable gearing on the ship 7.
The wirerope gearing (as Fig. 5) of present embodiment mainly is made up of displacement controlled 12, wirerope guide wheel 13, cable winch 14, carrier 8 links to each other with displacement controlled 12 by wirerope 9, be installed in for displacement controlled 12 on the guide rail that links to each other with ship 7 sides, and can on guide rail, move, thereby carrier 8 can be moved along the fore-and-aft direction of ship 7, the wirerope 9 that links to each other with carrier 8 links to each other with cable winch 14 by wirerope guide wheel 13, rotate cable winch 14, drive wirerope 9 along depth of water direction vertical moving by wirerope guide wheel 13, move up and down thereby drive carrier 8.
The cable gearing (as Fig. 5) of present embodiment is made up of cable sheave 16, twisted and released of the cable wheel hub 17, and its main effect is to realize folding and unfolding synchronously with the wirerope gearing, and it belongs to pure mechanical drive, utilizes prior art to realize, so no longer narration.
The present invention is further illustrated below in conjunction with the concrete application in the hinge mattress sinking construction of the present invention in hydraulic engineering.
Shown in Fig. 7,8,9,10.
Wherein Fig. 7 moves towards structured flowchart for designed concrete structure and the signal of the method according to this invention and system, wherein dotted line L-L with the lower part is in water,, except that being fixedly linked with shipboard, support 11 and acoustic receiver mounted thereto 4 all be installed on the ship 7 with top.In addition, the fish lead body shown in Fig. 7 is carrier 8 of the present invention.
Adopting the hinge mattress sinking in river embankment concealed engineering (hydraulic engineering) is built is a kind of effective novel river control method, in hinge mattress sinking construction, used the continuous mattress sinking new technology of horizontal drawing waterborne, improved the work efficiency and the construction quality of hinge mattress sinking under water, formally put into production use at present.
Carry out the construction of hinge mattress sinking under water in rivers, the flow direction of change of Underwater Topography, river and flow velocity all can exert an influence to construction.
The traditional mattress sinking of hinge under water construction location is to control by measuring on the bank, plugs mark post on section, and mattress ship is aimed at mark post and constructed.Measurement can only be controlled the position of mattress ship on the water surface.If run into change of Underwater Topography, or the flowing water influence, the submarine site of mattress sinking will change, and variation has also taken place in the projected position of row limit on the water surface.Construct by measurement like this, may cause phenomenons such as rearrangement, folded row or scissors mouth to occur, can not guarantee to arrange quality.
The automatic station-keeping system of hinge mattress sinking under water is on the water in the work progress, can find the water-bed position on mattress sinking limit in real time automatically, the control mattress ship is aimed at ranking, instruct mattress ship to arrange in accurate position, the lap width of two mattress sinking 18 improves and arranges quality before and after guaranteeing.
The automatic pinpoint key problem in technology of hinge mattress sinking under water mainly contains 2 points: the one, find mattress sinking limit, and the 2nd, determine that the mattress sinking limit is at the projected position of the water surface.The construction of hinge mattress sinking under water is to work under the situation of flowing water field, and the impulse force of flowing water changes the position of mattress sinking under water, and flowing water also can cause the distortion influence to some physical fields simultaneously.For this reason, the physical field method that must select flowing water to compare less to its influence when selecting geophysical method detects mattress sinking limit, and adopts multiple geophysical method integrated application to reach pinpoint purpose.
The automatic station-keeping system of hinge mattress sinking under water principle of work:
The underwater television probe is the optics picture pick-up device, transmits video information under water in real time by video transmission cable, observes the image in the underwater television probe angular field of view, and its task is to find mattress sinking limit under water.The depth of water detects the water pressure of adopts pressure sensor detection probe position by coming on the cable transmission, is converted to Water Depth Information, its task be for sonic detection provide parameter be provided with according to and provide reference for the mattress sinking workmen.Sonic method is that the direct wave that adopts emission under water, the water surface to receive the emission sound wave determines that the mattress sinking limit is at the projected position of the water surface.Underwater television probe 1, underwater sound wave emitting head 3, depth of water probe (being depth of water sensor 5) are trinity device (being combined in a fish lead body is on the carrier 8), cooperatively interact and finish water-bed detection mission, and acoustic receiver 4 is served as water surface location tasks.
The concrete position fixing process of the automatic station-keeping system of hinge mattress sinking under water is: the edge (by underwater television probe 1) that 1) at first finds mattress sinking 18; 2) on the water surface, find and arrange the projected position of limit under water at the water surface; 3) mattress sinking ship 7 is according to the displacement location of this water surface.For this reason, select underwater television to seek mattress sinking limit, select the sound wave R-T unit of one six receipts to finish second target---find and arrange the projected position of limit at the water surface under water, mattress sinking ship 7 is located according to this position.It is all very important for the definite fast and mattress sinking construction of target to understand the depth of water in position fixing process, so should select to detect in real time the pressure sensitive high precision depth of water sniffer of the depth of water, with their comprehensive utilization, form the automatic station-keeping system of a hinge mattress sinking under water.
At first adopt underwater television to seek the border of mattress sinking.Because the impulse force of flowing water can be subjected to displacement behind 1 time water of underwater television probe, when it finds the border of mattress sinking 18, be difficult in the water surface and determine row underwater accurate position, limit (promptly the border of mattress sinking 18).Therefore, adopted a kind of flowing water that is subjected to influence that geophysical method smaller, that can conveniently realize again---sonic method detects, and accurately makes their position, to reach the accurately purpose of location of the construction of hinge mattress sinking under water.
Sound wave is at the speed V of water transmission
PAbout=1500m/s, and the flow velocity of river is generally 1～2m/s (season of hinge mattress sinking construction and the position, limit of pulling in to shore under water, special flood velocity 2～3m/s).
The depth of water of perform region is 0～25m, and the time ratio of sonic propagation is shorter, and flowing water is smaller to the influence that detects sound field, and the displacement error that causes is
Δ d=V
Water speed/ V
Velocity of wave=1～3/1500
Calculate with Peak Flow Rate 3m/s, the displacement error that cause the flowing water field is about 2 ‰, presses maximum water depth 25m and calculates, and displacement error is 5cm, can ignore the influence of control mattress sinking lap width.
It is that sound wave emissions probe 3 and underwater television probe 1 are installed together that the sound wave method is carried out detection and location under water, after underwater television finds target, carry out sound wave emissions immediately, adopting the linear array of being made up of six acoustic receivers 4 to receive sonic system on the water surface detects, the shortest position when detecting sound wave and walking, be the position that sound wave is launched under water, i.e. the border of mattress sinking is at the projected position of the water surface, with the location of control workboat.
The automatic station-keeping system of hinge mattress sinking under water working method is accurately to control the work of hinge mattress sinking under water accommodation.The method of controlling the work of hinge mattress sinking under water accommodation is: adopt the method for 2 fixed straight lines to control the construction working accommodation.The principle of work block diagram as shown in Figure 8, the hinge position of second ranking on the mattress sinking work boat (from row 2 meters, limit), transfer two sniffers (being carrier 8) from the both sides of ship, when 1# and 2# underwater television probe 1 all finds the edge of mattress sinking 18, signal indication according to 1# and 2# acoustic receiver 4, the position of mobile mattress sinking ship 7 makes its row of aligning position, limit, the mattress sinking of beginning lay hinge.Mattress sinking work boat captain also can be in real time according to the indication of the information on screen rectification accommodation.
The underwater sound wave positioning principle as shown in Figure 1, underwater sound wave transmitting probe 3 orientations of sound wave receiving and transmitting unit under the bottom are launched sound wave to the water surface, construction ship 7 one sides, can with the ship 7 synchronization-moving linearity array received information of acoustic wave of forming by acoustic receiver 4.Because the acoustic receiver linear array is six evenly distributed on 2.0 meters long straight lines road sound wave receivers, receive the emission sound wave simultaneously, the acoustic receiver 4 that receives information of acoustic wave the earliest is the nearest positions of the dried up probe of sound wave emissions down 3 (promptly mattress sinking edge).Because the shortest during the walking of sound wave, that is to say that sound wave emissions probe 3 is nearest to acoustic receiver 4.When sound wave is the shortest when being positioned at the center (shown in Fig. 1,12) of linear array when walking, transmitting probe (promptly mattress sinking edge) be in the linear array center under the position, also be and arrange the projected position of limit under water at the water surface.The linear array mid point that six acoustic receivers 4 are formed be fixed on treat mattress sinking need with the position of mattress sinking border overlap joint under water, adjust the construction accommodation, make it the sound wave first arrival then smallest point in the mid point that receives sonic system, as shown in Figure 1, the positioning instant success.
All information of the automatic station-keeping system of hinge mattress sinking under water are by computer control, are unified on display 2 screens to show that its software block diagram as shown in Figure 3.
Can respectively show a system on the left side and the right of display screen under the control of software, screen top is the underwater television image, and the middle part is that the depth of water shows numerical value, and the bottom is six first break times that acoustic receiver receives.
Underwater television principle of work and technical feature:
Underwater television by underwater television probe 1, transmission cable 19, controller 1 ', image acquisition and processing device, storer, display etc. form (as shown in Figure 6).
Underwater television probe 1 is built-in with high precision, wide band television camera, and disposes the special lighting light source, can adapt in the general rivers water and work.Underwater television probe 1 is by ground controller 1 ' by the transmission cable supply power, the television image signal of Underwater Camera picked-up is delivered to ground via video transmission cable, by RS-232 interface, on indicator screen, shown by the collection of collecting image of computer device, processing back.
Underwater television device of the present invention can adopt the underwater television device shown in the table 1, also can adopt akin any underwater television device of index.
Table 1
| Model | The SD-2 type | The SD-3 type |
| Type | Colored | Black and white |
| Sharpness (TVL) | ??470 | ??600 |
| Sensitivity (Lux) | ??1 | ??0.003 |
| Field angle (°) | ??90° | ??90° |
| The camera lens mode | Focus distance, manual iris, Automatic white balance control | Focus distance, manual iris, Automatic white balance control |
| Working depth (m) | ??100 | ??200 |
| Observed range | Clear water 1 ~ 3m, muddy water 0.1 ~ 0.3m | Clear water 1 ~ 4m, muddy water 0.1 ~ 0.5m |
| Lighting source | Built-in | Built-in |
| White balance | Automatically | Automatically |
| Probe size (mm) | Φ 70 * 300 (drawing together illuminating lamp) | ??Φ70×300 |
The underwater sound wave R-T unit can adopt six road sonic apparatus, and its principle of work and technical feature are as follows:
Six road sonic apparatus are one one six sonic apparatus of receiving.A transmission channel, transmission frequency are the rectangular wave pulse about 30kHz.Six acoustic receivers 4 receive the sound wave that transmitting probe 3 under water sends simultaneously.Six road sonic apparatus can link to each other with computing machine, and by computer software control, present embodiment has adopted the way that takes turns to operate, control two cover underwater sound wave transmitters, the work of water surface acoustic receiver.
The technical indicator of six road sonic apparatus:
A. ultrasonic emitting, receiving cable
Transmission channel: 2 roads;
Receiving cable: 6 roads, alternation are two 6 roads
B. launch and receptivity
Transmission channel:
Transmitted waveform: rect.p.
Pulse height: 250 volts, 500 volts, 1000 volts
Pulse width: 20 μ s～100 μ s
Receiving cable:
Receive two 6 roads, alternation
Amplifier gain: 0dB～42dB (is that increment is optional with 6dB), adjustable
Frequency span: 600Hz～100KHz
Scanning delay: 1～9999ms (default value is 1ms)
Input mode: single-ended input
Input impedance: 〉=20K Ω
C. sampling
Count: 1k, 2k, 4k, 8k, 16k, 32k point/road
At interval: 0.1 μ s～25.6 μ s, to select by 0.1 μ s step increments, the per pass single emission is once gathered, and lasts about 1 second;
Sampling and record length: (0.1～25.6 μ s) * 1k (2k, 4k, 8k, 16k, 32k) at interval
Memory capacity: the 32M byte, the record that can store 1k length is totally 16384 roads (record of 4k length is totally 4096 roads etc.);
D. show: be with high-quality liquid crystal display plotter backlight, can show test waveform, parameter, markers etc. simultaneously for 240 * 128
E. power supply characteristic: AC 220V or DC 12V accumulator jar
F. physical dimension: 300 * 260 * 115mm
G. weight: main frame: 2kg
Transmitting transducer: 50g, line length 〉=80 meter
Receiving transducer: 15kg/ cover, line length 〉=50 meter
The data processing function of six road sonic apparatus:
The data processing function of six road sonic apparatus is divided into two parts.A part is handled for real-time signal, and another part is to handle with the computing machine communication information.
Real-time signal is handled school zero, ground unrest monitoring (the continuous survey), spectrum analysis, waveform amplification, amount of decrease, move to left, move to right, functions such as coordinate and wiggle variable area demonstration.The function corresponding key is arranged on the panel of sonic apparatus, directly realize that at the enterprising line operate of panel the instrumentation panel as shown in Figure 5.The content of handling with the computing machine communication information is mainly: the order emission ultrasound wave of receiving computer; Receive intelligence sample; Determine messagewindow according to the depth of water; Automatic interpretation sound wave first break time; The first break time in each road is sent computing machine to do a dark step and is handled and demonstration.
The principle of work of depth of water sniffer and technical feature:
The fathometer sniffer is made up of depth of water sensor probe 5, air-core transmission cable, signal processor, interface convertor etc.Depth of water sensor 5 is high-precision pressure sensitive sensors.It converts the pressure of water to voltage signal, is sent in the instrument by cable, converts the degree of depth numerical information of water to, shows on controller 5 ' instrument.Degree of depth numerical information is sent to computing machine by interface convertor again and processs and displays.
The technical indicator of fathometer:
Measuring media: non-corrosive liquid
Measurement range: 0 ~ 50m
Input voltage: DC 24V
Output signal: 0 ~ 5V
Synthesis precision: 0.1%F.S
Working temperature :-20 ° ~ 85 ℃
Temperature drift: 0.02%F.S/ ℃
Long-time stability :≤± 0.2%F.S/
Numeral shows: 4 bit digital show, 2 decimals (99.99m)
Interface conversion: RS485 → RS232
The software block diagram that hinge mattress sinking is under water located automatically as shown in Figure 3.
The Control Software of the automatic station-keeping system of hinge mattress sinking under water, it integrates the comprehensively monitoring function that two-way underwater television, audiolocation and the depth of water are surveyed.Software has interface cleanness, uses simply, and the characteristics that directiveness is strong, software flow pattern is as shown in Figure 3.
The hardware configuration of software requirement: more than the computer CPU 1G, have the above compatible video card of 24Bit, two-way serial ports, CG-400 image pick-up card.
The above operating system of software requirement Win2000, correct image card and the video card driver of installing.
The concrete configuration of computing machine can be and is: CPU is that Intel pintium4 2.4G, internal memory 256M, hard disk 60G (7200 change), 64M DDR high performance 3 d figure show and do not block, CD writer, FG560-XL 15 " colour liquid crystal display device, 2 serial ports, DH-CG400 colour/black-white image grabbing card etc.; adopt WinXp operating system, satisfy the requirement of software systems fully.
Computerized information collection, disposal system in should use-case be carried out acquisition process with two tunnel underwater television images, two tunnel depth of waters, two road information of acoustic wave, show with screen.Observe the position of mattress sinking from screen picture, determine the construction accommodation, take working measure from the depth of water of screen display from the screen information of acoustic wave.
According to the requirement of underwater positioning system, the underwater television picture signal that computing machine receives two systems, acoustic signals, check point water signal etc. carry out showing with screen, instruct mattress sinking workboat location with image, numeral, curve cursor indication form.
Concrete test: after the automatic station-keeping system of the hinge mattress sinking under water process associating Installation and Debugging, carried out the practicality test, test objective is the bearing accuracy of checking system ruuning situation and checking system.
The Installation and Debugging of the automatic station-keeping system of hinge mattress sinking under water:
The engine control system of the automatic station-keeping system of hinge mattress sinking under water is installed in the master-control room of hinge mattress ship under water, each transmission cable enters the hydrostatic control cabin of mattress ship lower floor by pipeline, the winch of wire rope and cable is installed belowdecks, the coupling probe of cable termination passes through the window in hydrostatic control cabin again under the arc plate of gun wale, be suspended on displacement controlled 12, on the guide rail that displacement controlled 12 is installed under the arc plate, by moving forward and backward and lifting of conventional driving control system control combination probe (being carrier 8), the control system wiring block diagram when specifically implementing as shown in figure 10.Sound wave receives linear array and also is installed under the arc plate, and sound wave receives the center of linear array, row inside 2m place, limit, and the starting point place of the overlap joint of mattress sinking just, sound wave receives linear array and is installed on the fixed support 11.Improve through test of many times, control lifting and displacement reach practical requirement substantially.
The underwater television and the depth of water also can shared controllers, input is connected left road underwater television probe and depth of water probe respectively to left side camera cable on its rear panel with the depth of water, and input is connected right wing underwater television probe and depth of water probe respectively to the right camera cable with the depth of water.The video output of left side road connects computer video VIDEO 1, and the output of right wing video connects computer video VIDEO 2.The left side road and the right wing depth of water are exported a shared RS-232 serial ports, connect the computing machine COM port or COM device or COM1.The emission 2 of sonic apparatus rear panel, reception 2 are left road, and emission 1, reception 1 are right wing, and the shared RS-232 serial ports of two-way connects 2 mouthfuls of computer C 0 M, as shown in figure 10.Two-way equal operate as normal after Installation and Debugging.
The automatic station-keeping system of hinge mattress sinking under water software is through Installation and Debugging, and operation is normal.The underwater television clear picture of gathering, bathymetric data is correct, the sonic detection curve is directly perceived, adheres to specification.The automatic station-keeping system of hinge mattress sinking under water bearing accuracy meets the demands.
Claims (8)
1, a kind of automatic underwater object positioning method is characterized in that comprising the following steps:
A, to link to each other with wirerope by wirerope from the ship, pop one's head in by underwater television, the undersea detection device that underwater sound wave emitting head and depth of water probe are formed roughly sinks under water in the waters from required localizing objects, and each probe in the sniffer is linked to each other with corresponding controller and the main control receiving system of being made of computing machine on being installed in ship, moving of position control sniffer by mobile ship and/or wirerope, until the underwater television probe to being installed on the ship, the image that controller that links to each other with the underwater television probe and graphoscope have been carried the required localizing objects that meets the demands; Depth of water probe is delivered to the water signal of target present position in the computing machine receiving system by its controller simultaneously;
B, the acoustic receiver that will match with the underwater sound wave emitting head are arranged to wire sound wave receiving array at interval at the water surface, and each acoustic receiver is linked to each other with above-mentioned control receiving trap;
C, start the work of underwater sound wave emitting head, to water surface emission sound wave each acoustic receiver to the sound wave receiving array by the control receiving trap;
The acoustic signals that d, each acoustic receiver will receive is separately delivered in the control receiving system, by control in the receiving system the computing machine automatic interpretation and note the time that each acoustic receiver is transmitted the underwater sound wave emitting head emitting sound wave of coming, and it is poor to calculate each acoustic receiver time of reception automatically;
E, computing machine time of reception difference and the Water Depth Information that transmits of depth of water probe by analyzing each acoustic receiver calculates the water surface projected position value of submarine target automatically, and shows on display screen with curve display, thereby realizes the location to submarine target.
2, automatic underwater object positioning method according to claim 1 is characterized in that the acoustic receiver in the wire sound wave receiving array of water surface setting is equidistant layout.
3, automatic underwater object positioning method according to claim 2, the quantity that it is characterized in that being the acoustic receiver of equidistant layout is six.
4, automatic underwater object positioning method according to claim 1 and 2, it is characterized in that described wire sound wave receiving array and described ship link to each other and with its interlock.
5, a kind of submarine target automatic station-keeping system, main underwater television device, the underwater sound wave R-T unit, depth of water sniffer, computer system is formed, the underwater television device is mainly popped one's head in by underwater television, Video Controller and display device are formed, the underwater sound wave R-T unit is by the underwater sound wave transmitting probe, some acoustic receiver harmony wave controllers are formed, depth of water sniffer mainly comprises depth of water sensor and depth of water controller, computer system is installed on the ship, it is characterized in that the underwater television probe in the underwater television device, underwater sound wave transmitting probe in the underwater sound wave R-T unit, depth of water sensor in the depth of water sniffer is fixedly mounted on the carrier that sinks in the water body simultaneously, this carrier links to each other with wirerope gearing on the ship by wirerope, underwater television probe links to each other with Video Controller and display device on being installed in ship by vision cable, depth of water sensor links to each other with computer system by depth of water transmission line and depth of water controller, and the underwater sound wave transmitting probe links to each other by the sound wave controlled device that control transmission line and its are installed on the ship; Vision cable, depth of water transmission line, control transmission line all link to each other with cable gearing on the ship, some acoustic receivers in the underwater sound wave R-T unit are installed in ship on the support rigidly connected and interlock with it at interval, support is positioned at the water surface or below the water surface, thereby make corresponding acoustic receiver also be positioned at the water surface or below the water surface, each acoustic receiver also links to each other with computer system by transmission line separately and the sound wave controlled device that is installed on the ship thereof.
6, submarine target automatic station-keeping system according to claim 5 is characterized in that rack-mount acoustic receiver is uniformly-spaced layout.
7, submarine target automatic station-keeping system according to claim 5 is characterized in that described support is linearity rigid structure or curve-like rigid structure.
8, according to claim 5 or 7 described submarine target automatic station-keeping systems, it is characterized in that described support is parallel with the water surface.
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| CNB2004100654098A CN1325930C (en) | 2004-12-01 | 2004-12-01 | Automatic underwater object positioning method and system |
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| CNB2004100654098A CN1325930C (en) | 2004-12-01 | 2004-12-01 | Automatic underwater object positioning method and system |
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