RU118765U1 - PULSE ACOUSTIC SIGNAL RADIATOR COORDINATE METER IN THE ENVIRONMENT - Google Patents

Abstract

1. Coordinate meter of a pulsed acoustic signal emitter in a medium, including said emitter and an acoustoelectric transducer, characterized in that it additionally contains acoustoelectric transducers, a pulse acoustic signal delay time processing unit, a communication device, a three-dimensional data processing device, and the total number N of acoustoelectric there are at least four transducers, while the output of each acoustoelectric transducer is connected to one of the N inputs of the pulsed acoustic signal delay time processing unit, the output of which is interconnected to the input of the communication device connected by the output to the input of the three-dimensional data processing device. ! 2. The meter according to claim 1, characterized in that the emitter of the pulsed acoustic signal is a working pneumatic impact machine. ! 3. The meter according to claim 1 or 2, characterized in that each of the N channels of the processing unit for the delay times of the pulsed acoustic signal comprises a transceiver connected by mutual connection and a device for measuring the delay time of the pulsed acoustic signal connected by an input to one of the N inputs of the time processing unit delays of the pulsed acoustic signal, while the inputs of the transceiver devices are interconnected by mutual wireless communication operating at a given frequency, and the outputs are connected to each other and to the output of the processing unit for processing the delay times of the pulsed acoustic signal.

Description

The technical solution relates to instrumentation, and in particular to the technique of creating acoustic navigation systems, and can be used, for example, to determine the three coordinates of a pneumatic impact machine working in the ground.

Known sonar synchronous rangefinder long-range navigation system according to the patent of the Russian Federation for invention No. 2353949, class. G01S 15/08, publ. 04/27/2009, including a bottom navigation base of M hydroacoustic transponders with different response frequencies f _m (m = 1-M), a second bottom navigation base of M hydroacoustic pinger beacons with different radiation frequencies F _m (m = 1-M ) mechanically connected to the corresponding M beacon transponders containing M synchronously operating clock generators, M transmitters with different operating frequencies F _m , the inputs of which are connected to the outputs of clock generators M located near the seabed at a distance of no more than e wavelengths at the operating frequencies F _{m of} hydroacoustic emitters, the inputs of which are connected to the outputs of the transmitters with the corresponding operating frequencies, a clock generator located on the navigation object, an acoustic transmitter with a sampling frequency f ₀ , the input of which is connected to the first output of the clock generator, M-channel receiver for receiving response signals with frequencies f _m , M measuring the propagation time of acoustic signals to the transponder beacon operating at the frequency of this channel, and vice versa, the first inputs of the cat They are connected to the outputs of the M-channel receiver, and the second inputs are connected to the second output of the clock generator, MxN blocks for converting time intervals into distances according to the number N of possible ray paths, the inputs of which are connected to the outputs of the corresponding propagation time meters, M blocks for choosing the maximum distance value, the inputs of which are connected to the outputs of N blocks for converting time intervals in the distance of a given channel, the coordinates calculator of the navigation object, the first input of which is connected to the outputs of M blocks for selecting the maximum distance, a second clock generator that works synchronously with the clock generators of the pinger beacons, the first input of which is used to synchronize the M synchronous clock generators of the hydroacoustic pinger beacons before they are installed at the bottom, a receiving acoustic antenna for receiving acoustic signals pinger beacons, the second M-channel receiver for receiving acoustic signals of pinger beacons, the input of which is connected to the output of the receiving acoustics antenna, M meters of the propagation time of acoustic signals from pinger beacons to the navigation object, the first inputs of which are connected to the outputs of the second M-channel receiver, and the second inputs are connected to the output of the second clock generator, additional M blocks of conversion of time intervals to distances, the inputs of which connected to the outputs of the M meters of the propagation time of acoustic signals from pinger beacons to the navigation object, and the outputs are connected to the second inputs of the object coordinate calculator that navigation. The receiving acoustic antenna is made directed in the vertical plane, and the maximum of its directivity characteristics corresponds to the critical slip angle β = arccos (c ₁₂ ), M located near the seabed at a distance of no more than the wavelength at the working frequencies F _{m of the} hydroacoustic emitters made directional in the vertical plane. The maximum directivity characteristic lies in the range of slip angles according to the revealed patterns, and additional M blocks for converting time intervals into distances calculate the required distances through the propagation velocity of the near-bottom wave according to the established dependence.

The disadvantages of this device are the low reliability of the system due to the placement of transmitters and clock generators on the navigation object, which narrows the possibilities of using such a system under shock loads, as well as in cases where the design of the controlled object does not allow the placement of additional equipment on it. Reliability is also reduced due to the presence of mechanical connections between sonar transponders and sonar pinger beacons. The scope of the system is limited - only for the underwater environment.

The closest device in technical essence and the totality of essential features is a device that implements a method of measuring the distance to a controlled object according to the first version of the application of the Russian Federation No. 97116654/09, class. G01S 15/08, publ. 04/20/1999, including an emitter of a pulsed acoustic signal, the radiation of which is synchronized with the time at the reception point at the controlled object, a two-channel receiver, each channel of which contains an acoustoelectric transducer (hydrophone), buried in the ground or located on its surface, a measurement unit phase and group delay time, unit for calculating the distance to the controlled object.

The disadvantages of this device are the need to place a pulsed acoustic signal on the controlled object of the emitter to generate a signal with which the time reference is synchronized to calculate the coordinates of the object, which limits the scope of the specified device and reduces its reliability. The lack of information content of the device is associated with the measurement of only one coordinate, namely, the distance to the object due to the limitation of the number of receiving blocks by only two. Also, the accuracy of the device is determined by calculating the range from information from only two channels, which is sufficient only for the air environment, and when placing an object in soil or water, the accuracy of the two-channel device will be affected by the heterogeneity of the medium.

The technical task of the coordinate meter of the emitter of a pulsed acoustic signal in the ground (hereinafter referred to as the device) is to increase the efficiency of its use by increasing the accuracy and information content by calculating the three coordinates of the emitter of a pulsed acoustic signal in the medium. The reliability of the device is increased due to the absence of interference in the design of the emitter of a pulsed acoustic signal to place a master oscillator on it, while the driving pulse is the first to arrive at any of the acoustoelectric transducers.

The stated technical problem is solved in that the acoustoelectric transducers, the processing unit of the delay times of the pulsed acoustic signal, a communication device, a three-dimensional data processing device are additionally introduced into the coordinate meter of the emitter of the pulsed acoustic signal in the medium, including the specified emitter and acoustoelectric converter the number N of acoustoelectric transducers is not less than four. The output of each acoustoelectric transducer is connected to one of the N inputs of the processing unit of the delay times of a pulsed acoustic signal, the output of which is interconnected to an input of a communication device connected by an output to an input of a three-dimensional data processing device.

The specified set of features allows you to determine the three coordinates of the emitter of a pulsed acoustic signal, which increases the accuracy and information content of the device. The reliability of the device is increased due to the absence of interference in the design of the emitter of a pulsed acoustic signal to place a master oscillator on it, while the master pulse is the first one to come from any of the N acoustoelectric transducers. This together expands the possibilities of using the specified device under the influence of large shock-rotational loads on the emitter of a pulsed acoustic signal, as well as in the absence of the possibility of placing an additional generator on the detected object.

As the emitter of a pulsed acoustic signal, you can use a working pneumatic hammer machine. This will ensure the formation of a pulsed acoustic signal of high power at the input of acoustoelectric converters, which will increase the range of the device.

It is advisable that each of the N channels of the processing unit of the delay time of the pulse acoustic signal contains interconnected transceiver device and the device for measuring the delay time of the pulsed acoustic signal connected to the input with one of the N inputs of the processing unit of the delay time of the pulsed acoustic signal. In this case, the inputs of the transceiver devices are interconnected by mutual wireless communication operating at a given frequency, and the outputs are connected to each other and to the output of the processing unit of the delay times of a pulsed acoustic signal.

The use of wireless data transmission between transceiver devices will increase the reliability of the device due to the absence of the need to introduce an additional generator that generates a driving pulse and is placed on a working pneumatic shock machine. Also, the weight and dimensions of the proposed device will be reduced.

The essence of the technical solution is illustrated by an example of the design of the device and the drawings of figures 1, 2, where figure 1 shows the structural diagram of the device; figure 2 is a geometric model of the interaction of the emitter of a pulsed acoustic signal and four acoustoelectric transducers.

The block diagram of the device consists (see figure 1) of the emitter 1 of the pulsed acoustic signal (hereinafter emitter 1), N acoustoelectric transducers 2 ₁ ... 2 _N , block 3 processing delay times of the pulsed acoustic signal, consisting of N channels, each of which contains interconnected by one of the devices 4 ₁ ... 4 _N measuring the delay time of a pulsed acoustic signal and one of the transceiver devices 5 ₁ ... 5 _N , the communication device 6 and the device 7 three-dimensional data processing. The output of each acoustoelectric transducer 2 ₁ ... 2 _{N is} connected to one of the N inputs of the delay time processing unit 3 of the pulse acoustic signal, the output of which is interconnected to the input of the communication device 6, connected by the output to the input of the three-dimensional data processing device 7. Each of the transceiver devices 5 ₁ ... 5 _N is interconnected with one of the devices 4 ₁ ... 4 _N measuring the delay time of the pulsed acoustic signal connected to the input with one of the N inputs of the unit 3 for processing the delay times of the pulsed acoustic signal, while the inputs of the transceiver 5 ₁ ... 5 _{N are} interconnected by a mutual wireless communication operating at a given frequency, and the outputs are interconnected and with the output of the processing unit 3 of the delay times of a pulsed acoustic signal.

The number of acoustoelectric transducers 2 ₁ ... 2 _N must be at least four, since one acoustoelectric transducer, to which the signal from the emitter 1 comes first, is used as a master, i.e. which determines the reference time, and the remaining three acoustoelectric transducers are used to measure three delay times of the pulsed acoustic signal relative to the reference time and for the subsequent calculation of the three coordinates by the device 7 three-dimensional data processing. As the emitter 1 (see figure 1), you can use a working pneumatic hammer machine.

The operation of the device for four acoustoelectric transducers 2 ₁ ... 2 ₄ is as follows. Acoustoelectric transducers 2 ₁ ... 2 ₄ are installed on the ground at the vertices of an imaginary rectangle as follows - acoustoelectric transducer 2 ₁ at point K, acoustoelectric transducer 2 ₂ at point L, acoustoelectric transducer 2 ₃ at point M, and acoustoelectric transducer 2 ₄ at point F (see figure 2). Before starting work, calibrate the device - measure the speed of propagation of elastic waves in the ground. Considering that, at the first start-up of emitter 1, the first acoustic wave reached the acoustoelectric transducer 2 ₄ , it is necessary to calculate the distance Δs ₁ equal to the distance traveled by the acoustic wave from the moment the wave arrives at acoustoelectric transducer 2 ₄ and until the wave arrives at acoustoelectric transducer 2 ₁ and using the found delay time Δt ₁ the wave propagation from the moment of arrival of acoustic pulse signal to the acoustic-electric transducer 2 ₄ to the moment of arrival of acoustic pulse Skog signal to the acoustic-electric transducer ₁ 2, can determine the velocity V of the wave propagation in the soil. After deepening the pneumatic impact machine into the soil massif for the entire length, the emitter 1 will be at point O and the distance FO will remain constant, it can be calculated as follows: measure the distance ZQ from the start point of the emitter 1, which is used as a working pneumatic impact machine, to the surface of the earth, then, by measuring the distance FZ along the x axis and knowing the length of this machine, which at the time of its penetration into the soil mass is equal to the distance QO, find: . Then calculate the distance from the emitter 1 to the acoustoelectric transducer 2 ₁ , to which the signal from the emitter 1 came as follows, then: .

Accordingly, the distance: Δs ₁ = KO-FO. Further, knowing the measured time Δt ₁ and the calculated distance Δs ₁ , find the velocity V of the propagation of elastic waves in the ground: .

To increase the accuracy and eliminate random errors during the calibration of the device when measuring the propagation velocity V of elastic waves in the soil, it can be calculated with respect to each of the four acoustoelectric transducers 2 ₁ ... 2 ₄ , thereby obtaining 4 values of velocity V and calculating its arithmetic average value.

Also, for the initial data, to calculate the coordinates of the emitter 1 use the distance between the acoustoelectric transducers 2 ₁ -2 ₂ and 2 ₂ -2 ₃ - these are the distances KL and LM, respectively.

Transceivers 5 ₁ ... 5 ₄ are based on a radio frequency transceiver module operating at a given frequency, which provides wireless communication between them. After calibration, the device enters the standby mode of the signal from the emitter 1. In the standby mode of the arrival of the signal from the emitter 1, the transceiver devices 5 ₁ ... 5 _{4 are} tuned to the same preset frequency.

The device in the process of moving a pneumatic hammer machine works as follows. Let the first pulsed acoustic signal arrive at the nearest acoustoelectric transducer, for example, 2 ₄ , and since it was the first to operate, the transceiver 5 ₄ sends via a wireless communication channel to the transceiver 5 ₁ ... 5 _{3 a} command to start the time delay countdown. After the transmission of the command, information from the transceiver devices 5 ₁ ... 5 _{4 is} supplied to the communication device 6. At the same time, upon receipt of a time delay reference command 5 ₁ ... 5 ₃ received by the transceiver devices, they send a time delay measurement start signal to the corresponding devices 4 ₁ ... 4 ₃ of the delay time of the pulsed acoustic signal. Further, in devices 4 ₁ ... 4 ₃ measuring the delay time of the pulsed acoustic signal, the delay times of the arrival of the signal from the emitter 1 to the remaining acoustoelectric transducers 2 ₁ , 2 ₂ and 2 ₃ relative to the acoustoelectric transducer 2 ₄ are calculated. Signal arrival delay time from the transmitter 1 to the acoustoelectric transducer unit 2 ₄ 4 ₄ receives the measurement delay time of 0. Further transceiving device 5 ₁ ... 5 ₄ transmit the measured Δt _1, Δt _2, Δt _3, Δt ₄ = 0 connection unit 6. After that, the transceiver devices 5 ₁ ... 5 ₄ go into operation at a given frequency, the devices 4 ₁ ... 4 ₄ measure the delay time of the pulsed acoustic signal and the transceiver 5 ₁ ... 5 ₄ go into standby mode, when a new signal arrives from the emitter 1 to the corresponding acoustoelectric Converter 2 ₁ ... 2 ₄ . After receiving information about the number of the first and subsequent triggered acoustoelectric transducers 2 ₁ ... 2 ₄ with the corresponding delay times using the communication device 6, this data is transmitted to the device 7 three-dimensional data processing. Then, using the mathematical apparatus, three coordinates of the emitter 1 are calculated.

The coordinate calculation process occurs in the device 7 three-dimensional data processing as follows.

Suppose that the signal is initially fixed by an acoustoelectric transducer 2 ₄ . Then the distance from it to the source of the impact O (namely, to the emitter 1) will be a certain value of FO (see figure 2). If the delay time at the output of the devices 4 ₁ ... 4 ₃ measuring the delay time of the pulsed acoustic signal is Δt ₁ , Δt ₂ , Δt ₃ , respectively, then the difference in distance for them will be Δs ₁ , Δs ₂ , Δs ₃ , which are respectively calculated using the measured in the process of calibrating the device, the velocity V of the propagation of elastic waves in the medium: Δs ₁ = Δt ₁ · V, Δs ₂ = Δt ₂ · V, Δs ₃ = Δt ₃ · V. Using geometric relationships, from the triangles AOK, LOB, MOC, FOD, POT, you can get the following system of 4 equations with 4 unknowns (in this case, the origin is the point F):

The solution to this system of equations:

Information about the three coordinates of the object is obtained in the following form:

It is possible to increase the accuracy of the device by increasing the number of acoustoelectric transducers 2 ₁ ... 2 _N : N> 4. Then the process of calculating the coordinates will occur in several stages, each stage is a process of calculating the coordinates of any four acoustoelectric transducers 2 ₁ ... 2 _N. The number of stages will be equal to the number of possible combinations of acoustoelectric transducers 2 ₁ ... 2 _{N with} each other, i.e. the number of combinations of N in k, which is equal to the binomial coefficient: , where k is equal to four (i.e., the minimum number of acoustoelectric transducers 2 ₁ ... 2 _N , which would be enough to calculate three coordinates). The formula calculates the number of steps, showing how many ways you can select k elements from a set containing N different elements, in this case, acoustoelectric transducers 2 ₁ ... 2 _N. For example, when calculating according to the above formula, for five acoustoelectric transducers 2 ₁ ... 2 _{N, the} number of steps will be 5, for six - 15. During each step, out of the total number of acoustoelectric transducers 2 ₁ ... 2 _N , any four are selected and the calculation process similar described above. After that, the obtained coordinates are stored in the device 3 three-dimensional data processing, select the following four any of the total number of acoustoelectric transducers 2 ₁ ... 2 _N and again calculate the coordinates. This happens until the end of possible combinations of acoustoelectric transducers 2 ₁ ... 2 _{N with} each other. From the total number of calculated coordinates, average coordinates are found as the arithmetic mean value for each of the three coordinates.

Claims (3)

1. The meter coordinates of the emitter of a pulsed acoustic signal in the medium, including the specified emitter and acoustoelectric transducer, characterized in that it additionally includes acoustoelectric transducers, a processing unit of the delay times of the pulsed acoustic signal, a communication device, a three-dimensional data processing device, the total number N of acoustoelectric at least four transducers, while the output of each acoustoelectric transducer is connected to one of N input processing unit delay times of the acoustic pulse signal, the output of which mutual coupling connected to the input connection device coupled to the input output of the three-dimensional data processing device. 2. The meter according to claim 1, characterized in that the emitter of a pulsed acoustic signal is a working pneumatic shock machine. 3. The meter according to claim 1 or 2, characterized in that each of the N channels of the processing unit of the delay time of the pulse acoustic signal contains interconnected transceiver device and a device for measuring the delay time of the pulse acoustic signal connected to the input with one of the N inputs of the time processing unit the delay of the pulse acoustic signal, while the inputs of the transceiver devices are interconnected by a mutual wireless connection operating at a given frequency, and the outputs are connected between each other and with the output of the processing unit of the delay times of the pulsed acoustic signal.