CN86103212A - On-shore sonar - Google Patents

On-shore sonar Download PDF

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Publication number
CN86103212A
CN86103212A CN86103212.8A CN86103212A CN86103212A CN 86103212 A CN86103212 A CN 86103212A CN 86103212 A CN86103212 A CN 86103212A CN 86103212 A CN86103212 A CN 86103212A
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CN
China
Prior art keywords
indicating device
micro computer
gate
detection indicating
control
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Withdrawn
Application number
CN86103212.8A
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Chinese (zh)
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CN1003741B (en
Inventor
施修祥
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Institute of Acoustics CAS
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Institute of Acoustics CAS
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Application filed by Institute of Acoustics CAS filed Critical Institute of Acoustics CAS
Priority to CN86103212.8A priority Critical patent/CN1003741B/en
Publication of CN86103212A publication Critical patent/CN86103212A/en
Publication of CN1003741B publication Critical patent/CN1003741B/en
Expired legal-status Critical Current

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Abstract

On-shore sonar is a kind of detection indicating device of being made up of parts such as transducer, transmitter, receiver, shaping Discr., control gate, range information input unit, electronic clock, micro computer, demonstration, printings, it is characterized in that being equipped with in the equipment micro computer.Micro computer is controlled the work of complete machine, and speed, distance and angle during wheel is beached carry out accurate, real-time measurement and computing, and result's demonstration is printed, for yard craft safety pulls in to shore to navigate.On-shore sonar can also make the design of harbour, builds " lightness ", is new port saving investment.In addition, also can improve the tonnage rank of old harbour, increase handling capacity.Therefore, it is the critical facility at modernized harbour.

Description

On-shore sonar
The invention belongs to underwater sound electronic equipment.
When the harbour wheel is beached harbour is had a kind of impulsive contact force, this impulsive contact force can smash harbour, causes the stifled port of delaying unloading a ship, major accidents such as traffic jam, and economic loss is very serious.
At present each harbour wheel of China is beached, and steamer is favoured the angle (being angle) of harbour, the distance of steamer and harbour, and the speed equivalence of steamer all is to lean on pilot's range estimation to estimate.Visual value by the pilot comes guide wheel to beach, and numerical value is inaccurate, error is big, need reserve sufficient surplus when building harbour and guarantee safety, but not guarantee safety, and is very uneconomical, very unreliable.
At this situation, we have developed on-shore sonar.
The present invention is by receiver 1, shaping Discr. 2, input register 3,24bit counter 4, " 0 " distance regulator 5, control gate 6 Change energy device 7, microcomputer 8, electronic clock 9, transmitter 11, the detection indicating device that parts such as demonstration, printing 10 are formed, the micro computer interface unit control gate 6 that has been characterized in the device design and installation, input register 3,24bit counter 4 cooperate the work of microcomputers control complete machine.By accurately measurement in real time to distance between boats and ships and harbour, the velocity amplitude when wheel is beached, distance value and angle value directly show, print, for yard craft pulls in to shore to navigate.(input register, 24bit counter, " 0 " distance regulator, general designation range information input unit.）。
Existing on-shore sonar (being called velograph), generally by receiver ， Change energy device, comparer (be equivalent to shaping, differentiate, judgement), storer (input register), counter, distance display, subtracter, eight times are average, and parts such as speed demonstration are formed.This sonar does not have micro computer control complete machine working routine and numerical evaluation, and the reliability and stability of data are undesirable.
The present invention has equipped microcomputer, relies on interface unit to cooperate with microcomputer, and the work of control complete machine is measured, calculated.Obtained data are carried out " least square method smoothing processing " in microcomputer.Thereby the ability that possesses automatic search judgement, catches and follow the tracks of.Numerical value shows stable, clear, and has angle to show, numerical value accurately, reliable, precision can reach ± 1%.
Input of the present invention partly is by receiver 1, and shaping Discr. 2 is finished.Be provided with the time-varying gain controller of 60db in the receiver.The amplitude that is provided with in the shaping Discr. is differentiated and pulsewidth is differentiated, pulsewidth has adopted shift register in differentiating.Measurement, arithmetic section are by input register 3,24bit counter 4, and " 0 " distance adjusts 5, electronic clock 9, microcomputer 8 is finished.Automatically search for, judge, follow the tracks of by gate 6, blanking gate (search door) 12, tracking gate 14 and microcomputer 8 are finished.
On-shore sonar surveying work principle such as Fig. 1.During use, handle ship side and harbour keeping parallelism.At this moment be installed in harbour Fa She Change under water and can launch modulating pulses to hull 20 by device 7, modulating pulse is run into hull 20 back reflections and is returned, by Jie Shou Change energy device 7 receptions under water, sending into on-shore sonar main frame 15 handles, after reflection echo is handled after testing, result of calculation is shown by light navigation board 14, and guide wheel is beached.
Time between the time of reception from the x time to the echoed signal represents that with t the velocity of sound is represented with C in the water.Cong Change can device be so to the distance L hull:
L＝Ct/2
With Ln is the distance that records for the n time, L M+1It is the distance that records for the n+1 time.T gives the exomonental repetition period of setting earlier, and speed was for just when ship's speed Vn(hypothesis was pulled in to shore so) be Vn=(Ln-L M+1) T.
Temperature is very big to the influence of the velocity of sound, when it changes to 30 ℃ by 0 ℃, can cause 6.5% range rate error.In the present invention, velocity of sound C is according to ocean temperature (digital thermometer) the substitution formula of in-site measurement:
C＝1449.2+4.623T-0.0546T 2+1.39（S-35）+…+0.017D
In the formula: the T-temperature (℃), S-salinity (%), the D-degree of depth (rice)
Calculate by computer field.As long as accurately determine time t, just can calculate distance L and speed Vn.According to the distance of bow and stern, can also calculate the angle of the oceangoing ship side of a ship and harbour.
Accompanying drawing 2 is on-shore sonar electricity work functional-block diagrams, Fa She Change can launch modulating pulses by device 7 during on-shore sonar work, modulating pulse is pulled in to shore after the reflection of steamer hull, Jie Shou Change by on-shore sonar can receive by device 7, send in the receiver 1, the echoed signal that receives is amplified in receiver, after 2 processing of shaping Discr., be input to input register 3, after will quantizing the echo time via 24bit counter 4 and " 0 " distance regulator 5 again, send into and carry out data processing and numerical evaluation in the microcomputer 8, at last result of calculation is shown, print.Outdoor large navigation board can demonstrate speed, distance and angle.Electronic clock transmit clock signal pulse, the working routine of complete machine be by microcomputer 8 and gate 6, blanking gate (search door), tracking gate, artificial gate control.Micro computer is changed test period automatically according to the distance of boats and ships offshore.Improve test frequency, the longest 250ms that is greater than of emission cycle is 185 meters a index to reach operating distance.Close along with boats and ships, the emission cycle constantly reduces, and when distance during less than 90 meters, the emission cycle is 125ms, and the length in emission cycle is controlled by the CTC chip and the electronic clock of computing machine.Sonar is started working the stage, and the time constant of putting CTC is 250.The signal of electronic clock generation-1ms is received the C/TO end on the CTC, and 1 counter that subtracts in the CTC is started working, and when reducing to 0, from ZC/TO end output one pulse signal, the emission cycle synchronisation signal of Here it is 250ms is so sonar is started working.In case when judging that the distance detected is less than 90 meters, the time constant of changing the CTC chip immediately is 125, at this moment the cycle from the synchronizing signal of ZC/TO end output has been exactly 125ms.Echoed signal is monitored by the oscillograph parts in the imported unit, to improve reliability.
Harbour water is shallow, interference is big, and this device has been taked strong interference protection measure.Adopted the time-varying gain controller of 60db in the receiver, suppressed the strong reverberation of short range and disturb.In processor (shaping discriminating),, adopted amplitude to differentiate and the pulsewidth discriminating for improving the reliability of signal.For improving measuring accuracy, when differentiating, pulsewidth adopts shift register.Signal is sent in the micro computer and adjudicates, reject the fixedly undesired signal of harbour, after setting the echo target of test ship, according to the distance and the speed of ship at that time, the next possible position of ship constantly of prediction, the trace command of emission 2ms lead is opened receiver by gate 6, reaches the effect of purified signal with this.Blanking gate (search door) the 12nd, in order to suppress to transmit, artificial door 13 is can in addition, also to be can be used for transferring the airport to close by operating personnel's auxiliary catch signal under the malfunctioning situation of contingency computer decision.In order to guarantee the accurate of distance value, be counted as the distance of harbour impact damper with measuring the Ju Li Change of De Change energy device to ship side to bilge, need before measurement, use " 0 " distance regulator that the initial distance of harbour is adjusted, determine the starting point of range observation.Jian Change energy device is needed value to the distance value of impact damper from the distance of measuring.The moment that arrives with echo during concrete calculating subtracts each other with the moment of " 0 " distance and is actual range.
For making output data stable, in computing machine, the data that obtain are carried out " least square method smoothing processing ".
In display device, outdoor large light navigation board is made electronic switch with controllable silicon, replaces relay, Ji economy, and serviceable life is long again.It is that power rectifier diode by four 20A is connected into bridge rectifier circuit and several common bulbs and a reverse withstand voltage controllable silicon greater than 600V and is formed by connecting.
For making bulb keep normal brightness, make assembly can control controllable silicon work effectively, be added in voltage waveform on the controllable silicon and be the waveform in the accompanying drawing 4.
The gate circuit is by the CTC programmable timer D in the micro computer 1, 3 monostable D 2, D 3, D 10, a trigger D 5, four or a D 4, D 6, D 8, D 9, a not gate D 7And two on ﹠ off switch K 10, K 11Form.Wherein contain artificial door, search door (blanking gate) and tracking gate.Fig. 5 is the connection layout of gate circuit, D 2, D 3, D 4Form artificial door, D 5, D 6, D 7, D 8Form the search door, D 10, D 6, D 7, D 8Form tracking gate.Automatic search, seizure, tracking are finished in the work of gate circuit receiver control and transmitter.D 2, D 3, D 10Be assembly 74LS123.D 5Be assembly 74LS74.
Measurement, computational scheme are by 1 programmable input, output interface PIOZ in the micro computer 1, 3 controlled output working storage Z 2, Z 3, Z 4, 6 2-10 system counter Z 5, Z 6, Z 7, Z 8, Z 9, Z 10Form Z 2, Z 3, Z 4Form input register, Z 5, Z 6, Z 7, Z 8, Z 9, Z 10Form the 24bit counter.Z 2, Z 3, Z 4Be assembly 74LS273, Z 5, Z 6, Z 7, Z 8, Z 9, Z 10Be assembly 2-10 system counter 74LS161.Accompanying drawing 6 is to measure, and calculates the interface unit connection layout, D 0-D 7Be the data bus of micro computer, PA 1-PA 3Be the data line on the PIO chip, Z 2Join with the PIO chip, interrupt reading of data, Z by the PIO application 3, Z 4Output terminal be directly hung on the data bus, micro computer passes through Z 3, Z 4Output terminal control data input, every 8bit and a working storage 74LS273 join, the data line PA among the figure on the PIO chip 1-PA 3With the data bus D on the micro computer 0-D 7Input 8bit data wherein match.1MHz is as the timing mark frequency of counter, counter needs 24bit to be determined by the 250ms emission cycle altogether, the initial moment of counting is determined by " 0 " distance signal, when echo arrives, just the data of being counted are deposited in working storage, and the interrupt request of filing an application to peek to CPU, computing machine can be taken into internal memory with data at any time according to working condition.
Description of drawings.Accompanying drawing 1 is the on-shore sonar work measurement schematic diagram that pulls in to shore.
19 tugboats among the figure, 20 steamers, 21 impact dampers, 14 light navigation boards, 15 main frames, 16 harbours, 7 Change energy device, 18 basins.
Accompanying drawing 2 is on-shore sonar electricity work functional-block diagrams.
1 receiver among the figure, 2 shaping Discr.s, 3 input registers, 4,24bit counter, 5, " 0 " distance regulator, 6, gate, 7,, Change can device, 8, micro computer, 9, electronic clock, 10, demonstration, print member, 11, transmitter, 12, blanking gate (search door), 13, artificial door, 14, tracking gate.
Accompanying drawing 3 is electronic switch figure.
Among the figure, A, B, C, D are commutation diodes, E bulb, F controllable silicon.
Accompanying drawing 4 is the voltage waveforms that are added on the controllable silicon.
Accompanying drawing 5, accompanying drawing 6 are computer interface unit composition diagrams.
Accompanying drawing 5 is gate wiring diagrams.
D among the figure 1, CTC programmable timer, D 2, D 3, D 10Monostable, D 5Trigger, D 6, D 4, D 8, D 9Or door, D 7Not gate, K 10, K 11On ﹠ off switch.
Accompanying drawing 6 is to measure computational scheme figure.
Among the figure, Z 1Be PIO programmable IO interface, Z 2, Z 3, Z 4Be controlled output working storage, Z 5, Z 6, Z 7, Z 8, Z 9, Z 10It is 2-10 system counter.
The present invention has obtained remarkable result in practice, the crude oil terminal of Zhenghai general petrochemicals factory is after having installed on-shore sonar, the harbour that makes former design can only stop 20,000 5 kiloton steamers can be stopped the steamer of 5 tons, has created condition for the stop of large-tonnage foreign steamer, has received obvious economic benefit.

Claims (13)

1, a kind of by receiver 1, shaping Discr. 2, input register 3,24bit counter 4, " 0 " distance regulator 5, microcomputer 8, electronic clock 9, transmitter 11, transducer 7, control gate 6, show, print the detection indicating device that 10 parts such as grade are formed, the micro computer interface unit gate 6 that it is characterized in that the design and installation of this device, input register 3, the work of 24bit counter 4 coupled computers control complete machine.
2, detection indicating device as claimed in claim 1 is characterized in that by gate circuit 6, artificial door 13, and blanking gate (search door) 12, tracking gate 14 constitutes control gates, and with electronic clock 9, micro computer 8 matches and constitutes automatic tracking time door and come control device work.
3, detection indicating device as claimed in claim 2 is characterized in that CTC chip and the electronic clock in the micro computer can constantly be changed the emission cycle according to the distance of boats and ships offshore, and the cycle is changed from 250ms-125ms, and the electronic clock cycle is 1ms.
4, control system as claimed in claim 2 is characterized in that programmable timer CTCD 1, monostable D 2, D 3, D 10, trigger D 5, or door D 6, D 4, D 8, D 9Not gate D 7, on ﹠ off switch K 10, K 11Form gate 6, wherein D 2, D 3, D 4Form artificial door, D 5, D 6, D 7Form the search door, D 10, D 6, D 7, D 8Form tracking gate, by each work of CTC chip controls of micro computer.
5, detection indicating device as claimed in claim 1 is characterized in that by input register 3,24bit counter 4 and micro computer match, and finishes measurement and computing to echoed signal.
6, detection indicating device as claimed in claim 5 is characterized in that Z 5, Z 6, Z 7, Z 8, Z 9, Z 10, 2-10 system counter has been formed 24bit counter, Z 2, Z 3, Z 4Controlled output working storage has been formed input register, and every 8bit and a working storage 74LS273 join Z 2Join with the PIO chip, interrupt reading of data, Z by the PIO application 3, Z 4Output terminal is directly hung on the data bus, and micro computer passes through Z 3, Z 4The input of output control terminal control data.
7, input system as claimed in claim 6 is characterized in that the data line PA on the PIO chip 1-PA 3With the data bus D on the micro computer 0～D 7Input 8bit data wherein match.
8, detection indicating device as claimed in claim 1, what it is characterized in that the light control of outdoor large navigation board uses is controllable silicon, and it is formed bridge rectifier circuit and several common bulbs E and a reverse withstand voltage controllable silicon F greater than 600V by four commutation diode A, B, C, D and is formed by connecting.
9, detection indicating device as claimed in claim 1 is characterized in that calculating that the velocity of sound of usefulness adopts is the on-the-spot velocity of sound.
10, detection indicating device as claimed in claim 1 is characterized in that in computing machine operational data having been adopted " least square method smoothing processing ".
11, detection indicating device as claimed in claim 1 is characterized in that having introduced in the device dual trace oscilloscope parts Control echo signal.
12, detection indicating device as claimed in claim 1 is characterized in that having on the light navigation board angle to show that it is by the accurate measurement of fore stern distance is calculated.
13, detection indicating device as claimed in claim 1 is characterized in that pulsewidth has adopted shift register in differentiating.
CN86103212.8A 1986-05-07 1986-05-07 On-shore sonar Expired CN1003741B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN86103212.8A CN1003741B (en) 1986-05-07 1986-05-07 On-shore sonar

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN86103212.8A CN1003741B (en) 1986-05-07 1986-05-07 On-shore sonar

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CN86103212A true CN86103212A (en) 1987-12-30
CN1003741B CN1003741B (en) 1989-03-29

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CN86103212.8A Expired CN1003741B (en) 1986-05-07 1986-05-07 On-shore sonar

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102236327A (en) * 2010-04-27 2011-11-09 上海冠卓企业发展有限公司 Laser berthing monitoring system for ship

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102236327A (en) * 2010-04-27 2011-11-09 上海冠卓企业发展有限公司 Laser berthing monitoring system for ship

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