CN204462385U - A kind of acoustics seabed Range Measurement System - Google Patents
A kind of acoustics seabed Range Measurement System Download PDFInfo
- Publication number
- CN204462385U CN204462385U CN201520096803.1U CN201520096803U CN204462385U CN 204462385 U CN204462385 U CN 204462385U CN 201520096803 U CN201520096803 U CN 201520096803U CN 204462385 U CN204462385 U CN 204462385U
- Authority
- CN
- China
- Prior art keywords
- module
- signal
- circuit module
- power management
- transducer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model relates to acoustics seabed Range Measurement System, comprising: transducer, pressure hull, electronic compartment, watertight flange, underwater electrical connector, reception transmitter module, power management module, attended circuit module, operating circuit module and peripheral module; Be provided with electronic compartment in pressure hull, opening two ends are provided with watertight flange; One watertight flange is connected with transducer, another watertight flange is connected with underwater electrical connector; Receive transmitter module, power management module, attended circuit module, operating circuit module and peripheral module and be positioned at electronic compartment; Transducer is for doing the conversion between electric signal and acoustical signal to signal; Receive transmitter module to be used for receiving and transmitting; Power management module is used for managing power supply; Attended circuit module has been used for task on duty, coordinates power management module to complete power management control task, the acoustic signal recorded is transferred to data recording equipment in the propagation distance of point-to-point transmission; Operating circuit module has been used for real time distance task.
Description
Technical field
The utility model relates to submarine acoustic range finding field, particularly a kind of acoustics seabed Range Measurement System and method.
Background technology
Submarine acoustic range measurement system utilizes the mode of acoustic range, realizes the range observation between the multiple point in seabed.As shown in Figure 1, the principle of work of submarine acoustic range measurement system is: on sub-sea floor targets point A and B, place a set of range measurement system respectively, according to the parameter arranged, A point range measurement system periodic transmission range finding acoustic pulses signal, after B point range measurement system receives range finding acoustic pulses signal, reply a response acoustic pulses signal, A point range measurement system receives the response acoustic pulses signal of B point range measurement system, calculate acoustic signal at the time τ that point-to-point transmission transmits, again according to known velocity of sound c, the distance R between A, B point just can be calculated.
Along with the exploitation to ocean resources, the construction of various oceanographic engineering and to the investigation of marine oil and gas and deep sea mineral resources and exploitation, human activity is proposed new requirement on the impact of environments such as subsea and to the measurement of the artificial or natural geological activity in seabed, submarine topography change, seabed plate activity and monitoring.But existing water middle distance measuring system is subject to the restrictions such as the complicacy of bandwidth restriction and marine environment, and distance accuracy is not high.
Utility model content
The purpose of this utility model is to overcome the not high defect of existing underwater acoustics Range Measurement System distance accuracy, thus provides a kind of acoustics seabed Range Measurement System and the method with degree of precision.
To achieve these goals, the utility model provides a kind of acoustics seabed Range Measurement System, comprising: transducer 1, pressure hull 2, electronic compartment 3, watertight flange 4, underwater electrical connector 5, reception transmitter module 6, power management module 7, attended circuit module 8, operating circuit module 9 and peripheral module 10; Wherein,
Described pressure hull 2 is the tubular structure of both ends open, and its inside is provided with electronic compartment 3, and the opening two ends of described pressure hull 2 are provided with a watertight flange 4 separately; One of them watertight flange is connected with transducer 1, another watertight flange is connected with underwater electrical connector 5; Described reception transmitter module 6, power management module 7, attended circuit module 8, operating circuit module 9 and peripheral module 10 are all positioned at electronic compartment 3; Described transducer 1 is for doing the conversion between electric signal and acoustical signal to the signal that will receive or launch, it receives the reception transmitter module 6 in electronic compartment 3 by cable; Described reception transmitter module 6 is for receiving and transmitting; Described power management module 7 is for managing the power supply of miscellaneous part in system; Described attended circuit module 8, for completing task on duty, coordinates power management module 7 to complete power management control task, and the acoustic signal recorded is transferred to outside data recording equipment in the transmission range of point-to-point transmission; Described operating circuit module 9 is for completing real time distance task; Described peripheral module 10 comprises the pressure transducer 21 for the information of fathoming and the attitude sensor 23 for measuring equipment attitude.
In technique scheme, described reception transmitter module 6 comprises transmitting-receiving conjunction and puts switch 11, receiver 12 and transmitter 13; Wherein, it is the damages utilizing two high speed diodes to bring to protect receiver to avoid high voltage when launching in the reception stage that the effect of putting switch 11 is closed in described transmitting-receiving, prevents the receiving sensitivity of reduction system at launching phase; The effect of described receiver 12 has been filtering, the amplification of Received signal strength, and the signal after filtering, amplification is divided into two-way by receiver 12, and riches all the way gives attended circuit module 8, and riches all the way gives operating circuit module 9; Described transmitter 13, for improving the power of transmitting, realizes the impedance matching between power-amplifier stage and transducer, and then improves the conversion efficiency between electroacoustic energy.
In technique scheme, described operating circuit module 9 comprises analog to digital converter 15, digital to analog converter 22, house dog 17, signal processing unit 16 and interface conversion 20; Wherein, described analog to digital converter 15 is for collection signal, described digital to analog converter 22 is for output signal, described house dog 17 is for being cooked reset operation when program is surprisingly run and flown, described signal processing unit 16 for target echo detection, signal is processed, target signal parameters estimate and pulse select, described interface conversion 20 is for realizing the communication between operating circuit module 9 and other modules.
In technique scheme, described signal processing unit 16 adopts FPGA 18 and DSP 19 to realize; Wherein, FPGA 18 mainly completes the macrooperation amount comprised signals collecting, pre-service, narrow band filter and related operation, the computing that computation complexity is low, but DSP 19 is responsible for comprising the high process of the little computational complexity for the treatment of capacity that paired pulses carries out judging, selecting.
The utility model has the advantage of:
1, the utility model adopts high-precision time-delay to estimate to realize the high-precision range observation in seabed;
2, the utility model have employed deep water overpressure resistant device, for the normal work of undersea device provides sound assurance.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of submarine acoustic range finding;
Fig. 2 is the one-piece construction schematic diagram of acoustics seabed of the present utility model Range Measurement System;
Fig. 3 is the functional module division figure of acoustics seabed of the present utility model Range Measurement System;
Fig. 4 is the schematic diagram of the operating circuit module in the Range Measurement System of acoustics seabed of the present utility model.
Embodiment
Now the utility model will be further described by reference to the accompanying drawings.
Referring to figs. 2 and 3, acoustics seabed of the present utility model Range Measurement System comprises: transducer 1, pressure hull 2, electronic compartment 3, watertight flange 4, underwater electrical connector 5, reception transmitter module 6, power management module 7, attended circuit module 8, operating circuit module 9 and peripheral module 10; Wherein, described pressure hull 2 is the tubular structure of both ends open, and its inside is provided with electronic compartment 3, and the opening two ends of described pressure hull 2 are provided with a watertight flange 4 separately; One of them watertight flange is connected with transducer 1, another watertight flange is connected with underwater electrical connector 5; Described reception transmitter module 6, power management module 7, attended circuit module 8, operating circuit module 9 and peripheral module 10 are all positioned at electronic compartment 3; Described transducer 1 is for doing the conversion between electric signal and acoustical signal to the signal that will receive or launch, it receives the reception transmitter module 6 in electronic compartment 3 by cable; Described reception transmitter module 6 is for receiving and transmitting; Described power management module 7 is for managing the power supply of miscellaneous part in system; Described attended circuit module 8, for completing task on duty, coordinates power management module 7 to complete power management control task, and the acoustic signal recorded is transferred to outside data recording equipment in the transmission range of point-to-point transmission; Described operating circuit module 9 is for completing real time distance task; Described peripheral module 10 comprises the pressure transducer 21 for the information of fathoming and the attitude sensor 23 for measuring equipment attitude.
Below the modules in the Range Measurement System of acoustics seabed of the present utility model is further described.
With reference to figure 3, described reception transmitter module 6 comprises transmitting-receiving conjunction and puts switch 11, receiver 12 and transmitter 13; Wherein, it is the damages utilizing two high speed diodes to bring to protect receiver to avoid high voltage when launching in the reception stage that the effect of putting switch 11 is closed in described transmitting-receiving, prevents the receiving sensitivity of reduction system at launching phase; The effect of receiver 12 has been filtering, the amplification of Received signal strength, and the signal after filtering, amplification is divided into two-way by receiver 12, and riches all the way gives attended circuit module 8, and riches all the way gives operating circuit module 9; Described transmitter 13, for improving the power of transmitting, realizes the impedance matching between power-amplifier stage and transducer, and then improves the conversion efficiency between electroacoustic energy.
Described power management module 7 is for controlling the power supply of operating circuit module 9, transmitter 13, peripheral module 10.Acoustics seabed of the present utility model Range Measurement System has two states, i.e. mode of operation and attended mode.In the operational mode, power management module 7 is other module normal power supplies in system, under attended mode, power management module 7 provides the low volt voltage only maintaining minimum need of work under the management of attended circuit module 8 to other modules in system, to reach saving power consumption, the needs that guarantee system works long hours under water.
Described attended circuit module 8 adopts MCU14 to realize, and in one embodiment, the MCU adopted has the feature of low-power consumption, high handling property.Attended circuit module 8 ensure that when not having real time distance task, system enters attended mode, this module manages power management module 7 etc. under attended mode, guarantee system normal Standby state, after receiving underwater images instruction, be switched to mode of operation from attended mode, after executing task, get back to again attended mode and wait for lower subcommand.
With reference to figure 3 and Fig. 4, described operating circuit module 9 comprises ADC (analog to digital converter) 15, DAC (digital to analog converter) 22, house dog (Watch Dog) 17, signal processing unit 16 and interface conversion 20; Wherein, described ADC 15 is for collection signal, described DAC 22 is for output signal, described Watch Dog17 is used for doing reset operation when program is surprisingly run and flown, described signal processing unit 16 for target echo detection, signal is processed, target signal parameters estimate and pulse select, described interface conversion 20 is for realizing the communication between operating circuit module 9 and other modules.As shown in Figure 4, described signal processing unit 16, when hardware implementing, have employed FPGA 18 and DSP 19; Specifically, FPGA 18 mainly completes the macrooperation amounts such as signals collecting, pre-service, narrow band filter and related operation, computing that computation complexity is low, DSP 19 is responsible for paired pulses and carries out judging, select etc. that treatment capacity is little, but the process that computational complexity is high.Because signal processing unit 16 adopts FPGA to realize signals collecting, namely have employed hardware means when doing latency measurement and realize, higher than the precision of software.
After signal processing unit 16 in operating circuit module 9 receives and uploads depth information order, open the power control signal of the pressure transducer 21 in peripheral module 10, described pressure transducer 21 continuous several times reads depth information, is uploaded after depth information is average by underwater sound communication pattern.
More than that the structure of acoustics seabed of the present utility model Range Measurement System is described, adopt this system make a sound range observation at the bottom of the sea of learning time, two complete equipments are at least needed to work in coordination with, namely as shown in Figure 1, first set acoustics seabed Range Measurement System is designated as range measurement system A, the second cover acoustics seabed Range Measurement System is designated as range measurement system B.Below the method how utilizing acoustics seabed of the present utility model Range Measurement System to realize the range observation of acoustics seabed is elaborated.
The method comprises the following steps:
Step 1), communication send out:
The signal processing unit 16 of range measurement system B sends the interrogating signal of electrical signal form, is transferred to transmitter 13 after DAC 22; The interrogating signal of electrical signal form is transferred to transducer 1 by transmitter 13, and transducer 1 is gone out by underwater sound communication channels transmit after the interrogating signal of electrical signal form is converted to acoustical signal;
Step 2), communication receive: the transducer 1 of range measurement system A receives the interrogating signal of the acoustical signal form that range measurement system B is sent by underwater sound communication channel, and this signal is converted to electric signal; The receiver 12 received in transmitter module 6 receives the interrogating signal of electrical signal form, is transferred to signal processing unit 16 after ADC 15;
Above-mentioned steps 1) with step 2) described by communication is sent out, the effect of receiving that communicates realizes the stationary problem between two cover systems.
Step 3), range finding send out: the signal processing unit 16 of range measurement system B sends the interrogating signal of electrical signal form, transmitter 13 is transferred to after DAC 22, the interrogating signal of electrical signal form is transferred to transducer 1 by transmitter 13, is gone out after the interrogating signal of electrical signal form is converted to acoustical signal by the transducer 1 of range measurement system B by underwater sound communication channels transmit;
Step 4), range finding receives: the transducer 1 of range measurement system A receives the interrogating signal that range measurement system B is sent by underwater sound communication channel, and this signal is converted to electric signal; The receiver 12 received in transmitter module 6 receives the interrogating signal of electrical signal form, is transferred to signal processing unit 16 after ADC15.After signal processing unit 16 receives interrogating signal, make response, the answer signal of range measurement system A is transferred to transmitter 13 after DAC 22, the answer signal of electrical signal form is transferred to transducer 1 by transmitter 13, is gone out after the answer signal of electrical signal form is converted to acoustical signal by the transducer 1 of range measurement system A by underwater sound communication channels transmit;
The transducer 1 of range measurement system B receives the answer signal of range measurement system A, and the signal processing unit 16 of range measurement system B calculates the distance that acoustic signal transmits at point-to-point transmission, gives outside data recording equipment by Distance Transmission.
It should be noted last that, above embodiment is only in order to illustrate the technical solution of the utility model and unrestricted.Although be described in detail the utility model with reference to embodiment, those of ordinary skill in the art is to be understood that, the technical solution of the utility model is modified or equivalent replacement, do not depart from the spirit and scope of technical solutions of the utility model, it all should be encompassed in the middle of right of the present utility model.
Claims (4)
1. an acoustics seabed Range Measurement System, it is characterized in that, comprising: transducer (1), pressure hull (2), electronic compartment (3), watertight flange (4), underwater electrical connector (5), reception transmitter module (6), power management module (7), attended circuit module (8), operating circuit module (9) and peripheral module (10); Wherein,
The tubular structure that described pressure hull (2) is both ends open, its inside is provided with electronic compartment (3), and the opening two ends of described pressure hull (2) are provided with a watertight flange (4) separately; One of them watertight flange is connected with transducer (1), another watertight flange is connected with underwater electrical connector (5); Described reception transmitter module (6), power management module (7), attended circuit module (8), operating circuit module (9) and peripheral module (10) are all positioned at electronic compartment (3); Described transducer (1) is for doing the conversion between electric signal and acoustical signal to the signal that will receive or launch, it receives the reception transmitter module (6) in electronic compartment (3) by cable; Described reception transmitter module (6) is for receiving and transmitting; Described power management module (7) is for managing the power supply of miscellaneous part in system; Described attended circuit module (8), for completing task on duty, coordinates power management module (7) to complete power management control task, and the acoustic signal recorded is transferred to outside data recording equipment in the propagation distance of point-to-point transmission; Described operating circuit module (9) is for completing real time distance task; Described peripheral module (10) comprises the pressure transducer (21) for the information of fathoming and the attitude sensor (23) for measuring equipment attitude.
2. acoustics seabed according to claim 1 Range Measurement System, is characterized in that, described reception transmitter module (6) comprises transmitting-receiving conjunction and puts switch (11), receiver (12) and transmitter (13); Wherein, the effect that switch (11) is put in described transmitting-receiving conjunction is the damage utilizing two high speed diodes to bring to protect receiver to avoid high voltage when launching in the reception stage, prevents the receiving sensitivity of reduction system at launching phase; The effect of described receiver (12) has been filtering, the amplification of Received signal strength, signal after filtering, amplification is divided into two-way by receiver (12), riches all the way gives attended circuit module (8), and riches all the way gives operating circuit module (9); Described transmitter (13), for improving the power of transmitting, realizes the impedance matching between power-amplifier stage and transducer, and then improves the conversion efficiency between electroacoustic energy.
3. acoustics seabed according to claim 1 Range Measurement System, it is characterized in that, described operating circuit module (9) comprises analog to digital converter (15), digital to analog converter (22), house dog (17), signal processing unit (16) and interface conversion (20); Wherein, described analog to digital converter (15) is for collection signal, described digital to analog converter (22) is for output signal, described house dog (17) is for being cooked reset operation when program is surprisingly run and flown, described signal processing unit (16) for target echo detection, signal is processed, target signal parameters estimate and pulse select, described interface conversion (20) is for realizing the communication between operating circuit module (9) and other modules.
4. acoustics seabed according to claim 3 Range Measurement System, is characterized in that, described signal processing unit (16) adopts FPGA (18) and DSP (19) to realize; Wherein, FPGA (18) mainly completes the macrooperation amount comprised signals collecting, pre-service, narrow band filter and related operation, the computing that computation complexity is low, and DSP (19) but be responsible for comprises the high process of the little computational complexity for the treatment of capacity that paired pulses carries out judging, selecting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520096803.1U CN204462385U (en) | 2015-02-10 | 2015-02-10 | A kind of acoustics seabed Range Measurement System |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520096803.1U CN204462385U (en) | 2015-02-10 | 2015-02-10 | A kind of acoustics seabed Range Measurement System |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204462385U true CN204462385U (en) | 2015-07-08 |
Family
ID=53669253
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520096803.1U Active CN204462385U (en) | 2015-02-10 | 2015-02-10 | A kind of acoustics seabed Range Measurement System |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204462385U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105988117A (en) * | 2015-02-10 | 2016-10-05 | 中国科学院声学研究所 | Acoustic seabed distance measurement system and method thereof |
| CN107702698A (en) * | 2017-10-11 | 2018-02-16 | 青岛深海云海洋科技有限公司 | A kind of deep-sea is against formula echo sounding system and measuring method |
| CN113534163A (en) * | 2021-06-08 | 2021-10-22 | 杭州电子科技大学 | High-precision Doppler log system |
-
2015
- 2015-02-10 CN CN201520096803.1U patent/CN204462385U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105988117A (en) * | 2015-02-10 | 2016-10-05 | 中国科学院声学研究所 | Acoustic seabed distance measurement system and method thereof |
| CN107702698A (en) * | 2017-10-11 | 2018-02-16 | 青岛深海云海洋科技有限公司 | A kind of deep-sea is against formula echo sounding system and measuring method |
| CN113534163A (en) * | 2021-06-08 | 2021-10-22 | 杭州电子科技大学 | High-precision Doppler log system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105988117A (en) | Acoustic seabed distance measurement system and method thereof | |
| CN103488175A (en) | Underwater pipeline detection tracking system and detection method of automatic remote control underwater robot | |
| CN105388481A (en) | Dipping small-object detecting sonar system and detecting method thereof | |
| CN104267643A (en) | Target positioning recognition system of underwater robot | |
| CN204462385U (en) | A kind of acoustics seabed Range Measurement System | |
| CN105785968A (en) | Marine ranch acoustic monitoring system and monitoring method | |
| CN108681338A (en) | A kind of telemetering and remote control system of submarine navigation device | |
| CN104407340A (en) | Device and method for calibrating lineup of dragging linear array | |
| CN108007551A (en) | A kind of Multi-parameter acquisition self-tolerant hydrophone and array design methodology | |
| CN105634819A (en) | Intelligent monitoring and dynamic fault diagnosis system for subsea tree | |
| CN105988116A (en) | Underwater acoustic range finding, releasing and recovery system and method thereof | |
| CN110789670B (en) | Acoustic submerged buoy system for deep sea | |
| CN206531959U (en) | Sonar system signal acquisition transmission control unit | |
| CN107831466A (en) | Underwater wireless acoustic marker and its multi-address instruction code method | |
| CN103473917B (en) | A kind of autonomous floated remote underwater acoustic remote-controlled launcher of depthkeeping | |
| CN211107934U (en) | Collaborative exploration system based on unmanned cableless submersible | |
| CN103926934A (en) | Sonar detection device and method for docking between underwater robot and underwater working platform | |
| CN108791774A (en) | A kind of submarine navigation device for communicating and positioning | |
| CN204536545U (en) | A kind of underwater sound range finding, input and recovery system | |
| DelPreto et al. | A compact acoustic communication module for remote control underwater | |
| CN103557843B (en) | Compact underwater microtopography measurement apparatus | |
| CN108332058A (en) | A kind of autonomy remote-controlled vehicle submarine pipeline detecting and tracking device | |
| CN103926587B (en) | Sonar device for measuring pipe router of seabed oil and gas pipeline | |
| CN205958749U (en) | Ocean robot looks sideways at surveys cabin section | |
| CN103983977A (en) | Five-wave-beam fish detector |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |