CN110361720B - Sonar sound collecting board control method - Google Patents
Sonar sound collecting board control method Download PDFInfo
- Publication number
- CN110361720B CN110361720B CN201910702463.5A CN201910702463A CN110361720B CN 110361720 B CN110361720 B CN 110361720B CN 201910702463 A CN201910702463 A CN 201910702463A CN 110361720 B CN110361720 B CN 110361720B
- Authority
- CN
- China
- Prior art keywords
- sound receiving
- sound
- vibration
- receiving unit
- area
- 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
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention provides a sonar sound-receiving board control method, which relates to the technical field of sound wave detection and comprises the following steps: s1: dividing the sound receiving cover plate into at least one sound receiving unit, and numbering the sound receiving units according to the arrangement sequence; s2: a vibration receiver is arranged behind each sound receiving unit; s3: acquiring a sound receiving unit with the largest vibration amplitude, and marking the sound receiving unit; s4: drawing horizontal and vertical coordinate axes by taking the marked sound receiving units as coordinate axis original points, and dividing the sound receiving cover plate into four areas; s5: acquiring the number of the sound receiving unit of each area, and calculating the sum of the amplitude of the sound receiving unit of each area; s6: and judging whether the sum of the vibration amplitudes of the sound receiving units in each area is the same or not, if so, finishing the adjustment, otherwise, adjusting the sound receiving cover plate to rotate towards the area with the large vibration amplitude, and repeatedly executing the step S3. The sonar sound collecting plate control method is convenient to control, high in accuracy, free of manual operation, capable of adjusting and controlling at any time, high in adjusting efficiency and good in imaging effect.
Description
Technical Field
The invention relates to the technical field of sound wave detection,
in particular, the invention relates to a sonar sound board control method.
Background
The underwater acoustic imaging is a branch of acoustic imaging, plays an important role in underwater acoustic detection, carries out underwater positioning through the backscattering effect of an object on acoustic waves, and draws images point by point. The imaging by using the sound wave is developed on the basis of sound wave distance measurement and direction finding. The underwater sound wave distance measurement is mainly used for calculating the distance of a target by utilizing the time difference between a received echo and a transmitted pulse signal.
However, the general underwater terrain is complex, the emitted sound waves interfere with the sound receiving plate when returning to the sound receiving plate for receiving, the sound wave direction changes, the sound receiving plate is limited in area, the returned sound waves cannot be received to the maximum, the imaging effect is greatly reduced, after the existing sound receiving plate is installed, manual debugging is needed during use, generally, an operator with experience and old experience is needed to perform manual adjustment to achieve the optimal receiving angle, and therefore the control difficulty is high, the operation is difficult, the accuracy is low, and the imaging effect is poor.
Therefore, how to design a reasonable sonar sound collecting panel control method becomes a problem which needs to be solved urgently at present.
Disclosure of Invention
The invention aims to provide a sonar sound-collecting board control method which is convenient to control, high in accuracy, free of manual operation, capable of adjusting and controlling at any time, high in adjusting efficiency and good in imaging effect.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
a sonar sound collecting plate control method comprises the following steps:
s1: dividing the sound receiving board into at least one sound receiving unit, and numbering the sound receiving units according to the arrangement sequence;
s2: a vibration receiver is arranged behind each sound receiving unit;
s3: acquiring a sound receiving unit with the largest vibration amplitude, and marking the sound receiving unit;
s4: drawing horizontal and vertical coordinate axes by taking the marked sound receiving units as coordinate axis origins, and dividing the sound receiving plate into four areas;
s5: acquiring the number of the sound receiving unit of each area, and calculating the sum of the vibration amplitudes of the sound receiving units of each area;
s6: and judging whether the sum of the vibration amplitudes of the sound receiving units in each area is the same, if so, finishing the adjustment, otherwise, adjusting the sound receiving plate to rotate towards the area with large vibration amplitude, and repeatedly executing the step S3.
Preferably, in step S1, the sound receiving units are equal in size.
As a preferable aspect of the present invention, step S2 is performed in such a manner that the number of vibration receivers installed behind each sound receiving unit is the same.
Preferably, in the present invention, after step S2 is executed, the vibration receiver is numbered, and the vibration receiver number is the same as the number of the sound receiving unit.
Preferably, before step S3 is executed, a vibration spectrometer is provided and electrically connected to each vibration receiver for obtaining the amplitude of the vibration received by the vibration receiver.
In a preferred embodiment of the present invention, when step S4 is executed, the sound receiving unit through which the drawn horizontal and vertical coordinate axes pass does not belong to any of the divided regions.
Preferably, in step S5, the sound receiving unit number of each area is acquired, and the sum of the vibration amplitudes of the vibration receiver with the corresponding number is calculated.
In step S6, if the sum of the sound receiving unit vibration amplitudes in each area is not all the same, the sound receiving panel is adjusted to rotate to the area with the larger vibration amplitude, the labeled sound receiving unit is marked and deleted, and a new sound receiving unit with the largest vibration amplitude is searched again and marked.
The sonar sound collecting board control method has the beneficial effects that: the control is convenient, and the accuracy is high, need not manual operation, can adjust control at any time, and it is efficient to adjust, and the formation of image is effectual.
Drawings
Fig. 1 is a schematic flow chart of a sonar sound collecting panel control method according to the present invention.
Detailed Description
The following are specific examples of the present invention and further describe the technical solutions of the present invention, but the present invention is not limited to these examples.
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the modules and steps set forth in these embodiments and steps do not limit the scope of the invention unless specifically stated otherwise.
Meanwhile, it should be understood that the flows in the drawings are not merely performed individually for convenience of description, but a plurality of steps are performed alternately with each other.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and systems known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
The general topography under water is complicated, the sound wave that sends returns and receives and to interfere with when board department of receiving sound, the sound wave direction still can change, and it is limited to receive the sound board area, unable maximize receives the sound wave that returns, the effect of formation of image also can be discounted greatly so, after the installation of the sound board of so existing, still need carry out artifical debugging when using, generally need the old-fashioned operating personnel of experience to carry out artifical the regulation, in order to reach best receiving angle, the control degree of difficulty is big like this, the difficulty of handing, the accuracy is low, the imaging effect is poor.
Example one
As shown in fig. 1, which is only one embodiment of the present invention, the present invention provides a sonar sound board control method, including the steps of:
s1: dividing the sound receiving board into at least one sound receiving unit, and numbering the sound receiving units according to the arrangement sequence;
the area is great after the sound board expandes, and certain crooked pitch arc has, so the sound board is not like the same simple regulation direction of plane cover plate, need the sound function of every place on analysis sound board surface, for the convenience multiple spot contrast, divide into a plurality of sound receiving units with the sound board according to certain division rule, each sound receiving unit is observed alone, the judgement is concentrated at last, for the convenience contrast between a plurality of sound receiving units is judged, all number each sound receiving unit preferably, each sound receiving unit is conveniently discerned.
Of course, when step S1 is executed, each of the sound receiving units has the same size. The comparison is convenient, and the judgment accuracy is higher.
S2: a vibration receiver is arranged behind each sound receiving unit;
the sound receiving plates reflect sound waves, meanwhile, the sound receiving plates also receive images of the sound waves, the sound receiving plates vibrate synchronously under the vibration of the sound waves, the larger the energy of the sound waves received in a unit space is, the larger the vibration amplitude is, and in order to monitor data of each sound receiving unit, a vibration receiver needs to be installed behind each sound receiving unit to receive the vibration of the sound receiving units, and the vibration receiver can display and read the vibration.
Similarly, when step S2 is executed, the number of vibration receivers installed behind each sound receiving unit is the same, so as to ensure the sameness between the vibration of the sound receiving unit and the reception of the vibration receivers, ensure that the calibration data is accurate and effective, and have high reliability.
S3: acquiring a sound receiving unit with the largest vibration amplitude, and marking the sound receiving unit;
the sound receiving unit with the largest vibration amplitude is closest to the direction of the returned sound wave or has the largest expansion area facing the direction of the returned sound wave, generally, the sound receiving unit is closest to the direction of the returned sound wave.
S4: drawing horizontal and vertical coordinate axes by taking the marked sound receiving units as coordinate axis origins, and dividing the sound receiving plate into four areas;
in fact, the two axes are perpendicular to each other, the sound-collecting plate is divided into four parts, and the sound waves reflected by the sound-collecting plate in the four regions are the total amount of the sound waves diffused in four directions around the sound waves.
S5: acquiring the number of the sound receiving unit of each area, and calculating the sum of the vibration amplitudes of the sound receiving units of each area;
and (3) counting the four regions independently, wherein each region has a plurality of sound receiving units vibrating, the vibration of each sound receiving unit is in direct proportion to the reflected and diffused sound wave, and then calculating the sum of the vibration amplitudes of the sound receiving units in each region can correspondingly obtain the sum of sound wave energy which is prosperous in four directions of the sound receiving board.
S6: and judging whether the sum of the vibration amplitudes of the sound receiving units in each area is the same, if so, finishing the adjustment, otherwise, adjusting the sound receiving plate to rotate towards the area with large vibration amplitude, and repeatedly executing the step S3.
Here, if the sum of the vibration amplitudes of the sound receiving units in each area is not all the same, the sound receiving plate is adjusted to rotate to the area with the large vibration amplitude, which indicates that a certain area is closer to the sound wave return point than other areas, the sound receiving plate needs to be rotated to the sound wave generation point, so that the area, far away from the sound wave return direction, on the sound receiving plate faces the sound wave return point, sound receiving adjustment is performed, and the rotation process can be completed by controlling the motor to run by a computer without manual operation.
Of course, the sound receiving board adjusted to the optimal angle sends the received sound wave signal to the sound wave-image conversion mechanism for image generation, so that the generated image has the best effect.
And before the step S3 is repeatedly executed, marking and deleting the marked sound receiving units, and then searching and marking new sound receiving units with the maximum vibration amplitude again. Avoid the mark repeatedly, conveniently adjust control once more, so every predetermined angle of sound receiving plate displacement, once adjust with repeated calibration, the accommodation process hands over in computer intelligence and accomplishes, reconciles efficiently, and can adjust control at any time, including after the displacement takes place for the return sound wave, synchronous adjustment sound receiving plate makes the return sound wave receiving effect keep the optimum constantly.
The control method of the sonar sound collecting plate is convenient to control, high in accuracy, free of manual operation, capable of adjusting and controlling at any time and high in adjusting efficiency.
Example two
Still as shown in fig. 1, it is still one embodiment of the present invention, and in order to make the detection of the sonar sound board control method of the present invention more stable and obtain higher detection accuracy, the present invention further has the following designs:
first, after step S2 is executed, the vibration receiver is numbered, and the number of the vibration receiver is the same as the number of the sound receiving unit, so that the vibration receiver can read the corresponding sound receiving unit data conveniently.
Then, before step S3 is executed, a vibration spectrometer is provided, electrically connected to each vibration receiver, for acquiring the amplitude of the vibration received by the vibration receiver.
In addition, when step S4 is executed, the sound receiving units through which the drawn horizontal and vertical coordinate axes pass do not belong to any division region, so that data errors caused by repeated division are avoided.
Of course, when step S5 is executed, the number of the sound receiving unit of each area is acquired, and the sum of the vibration amplitudes of the vibration receiver of the corresponding number is calculated.
The control method of the sonar sound collecting plate is convenient to control, high in accuracy, free of manual operation, capable of adjusting and controlling at any time and high in adjusting efficiency.
While certain specific embodiments of the present invention have been described in detail by way of illustration, it will be understood by those skilled in the art that the foregoing is illustrative only and is not limiting of the scope of the invention, as various modifications or additions may be made to the specific embodiments described and substituted in a similar manner by those skilled in the art without departing from the scope of the invention as defined in the appending claims. It should be understood by those skilled in the art that any modifications, equivalents, improvements and the like made to the above embodiments in accordance with the technical spirit of the present invention are included in the scope of the present invention.
Claims (1)
1. A sonar sound collecting plate control method is characterized by comprising the following steps:
s1: dividing the sound receiving board into at least one sound receiving unit, wherein the size of each sound receiving unit is the same, and numbering the sound receiving units according to the arrangement sequence;
s2: mounting a vibration receiver behind each sound receiving unit, wherein the number of the vibration receivers mounted behind each sound receiving unit is the same, numbering the vibration receivers, and the number of the vibration receivers is the same as that of the sound receiving units;
s3: the system is provided with a vibration frequency spectrograph, is electrically connected with each vibration receiver, and is used for acquiring the vibration amplitude received by the vibration receiver, acquiring the receiving unit with the maximum vibration amplitude and marking the receiving unit;
s4: drawing horizontal and vertical coordinate axes by taking the marked sound receiving unit as an origin of a coordinate axis, and dividing the sound receiving board into four regions, wherein the sound receiving unit through which the drawn horizontal and vertical coordinate axes pass does not belong to any divided region;
s5: acquiring the number of the sound receiving unit of each area, and calculating the sum of the vibration amplitudes of the vibration receivers of the corresponding number of each area as the sum of the vibration amplitudes of the sound receiving units;
s6: and judging whether the sum of the vibration amplitudes of the sound receiving units in each area is the same, if so, completing the adjustment, otherwise, adjusting the sound receiving plate to rotate towards the area with large vibration amplitude, marking and deleting the labeled sound receiving units, searching the new sound receiving unit with the maximum vibration amplitude again, marking, and repeatedly executing the step S3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910702463.5A CN110361720B (en) | 2019-07-31 | 2019-07-31 | Sonar sound collecting board control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910702463.5A CN110361720B (en) | 2019-07-31 | 2019-07-31 | Sonar sound collecting board control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110361720A CN110361720A (en) | 2019-10-22 |
| CN110361720B true CN110361720B (en) | 2021-04-02 |
Family
ID=68222993
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910702463.5A Active CN110361720B (en) | 2019-07-31 | 2019-07-31 | Sonar sound collecting board control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110361720B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110968115A (en) * | 2019-11-20 | 2020-04-07 | 杭州友邦演艺设备有限公司 | Stage acoustic reflection cover control method |
| CN112964782B (en) * | 2021-03-10 | 2023-04-18 | 武昌理工学院 | Safety detection method for surveying and mapping bearing rod |
| CN113406694B (en) * | 2021-06-22 | 2023-04-07 | 武昌理工学院 | Low-frequency longitudinal wave detection method |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN86201612U (en) * | 1986-03-26 | 1987-03-25 | 中国科学院北海研究站 | Sonar sound-receiving array for passive distance measurement |
| CN102269816A (en) * | 2011-05-06 | 2011-12-07 | 中南大学 | Ultrasonic underwater microtopography detection testing device and method |
| EP1956147B1 (en) * | 2007-02-09 | 2012-04-18 | Geosec S.r.l. | Local seismic protection method for existing and/or possible construction sites destined for the foundation areas and those surrounding the building construction |
| CN105465611A (en) * | 2015-11-16 | 2016-04-06 | 武汉中仪物联技术股份有限公司 | Sonar detection method for water drainage pipeline |
| CN205562027U (en) * | 2016-04-29 | 2016-09-07 | 陈蜀乔 | Two -dimensional vector field hydrophone |
| CN205720658U (en) * | 2016-04-15 | 2016-11-23 | 青岛卓建海洋工程勘测技术有限公司 | Remotely control bottom mounted sonar detecting devices |
| CN107918132A (en) * | 2017-11-01 | 2018-04-17 | 北京臻迪科技股份有限公司 | Underwater ultrasound phased array detection system and undersea detection method |
| CN109283511A (en) * | 2018-09-01 | 2019-01-29 | 哈尔滨工程大学 | A kind of wide covering multi-beam reception basic matrix calibration method |
| CN208506244U (en) * | 2018-07-03 | 2019-02-15 | 交通运输部天津水运工程科学研究所 | A kind of swath sounding instrument depth measurement based on prototype deep water basin and sweep wide feature calibration system |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10514451B2 (en) * | 2014-07-15 | 2019-12-24 | Garmin Switzerland Gmbh | Marine sonar display device with three-dimensional views |
| WO2016141630A1 (en) * | 2015-03-11 | 2016-09-15 | 山东大学 | Tunnel boring machine rock breaking seismic source and active source three-dimensional seismic combined advanced detection system |
| US10426429B2 (en) * | 2015-10-08 | 2019-10-01 | Decision Sciences Medical Company, LLC | Acoustic orthopedic tracking system and methods |
| CN107479029A (en) * | 2017-08-10 | 2017-12-15 | 中国计量大学 | Umbrella-type underwater sound source detection means and its calibration and detection method |
| US11143758B2 (en) * | 2017-10-13 | 2021-10-12 | Navico Holding As | Sonar transducer performance optimization |
| CN109798107B (en) * | 2019-02-21 | 2022-09-16 | 武昌理工学院 | Stratum lithology analysis device and method |
-
2019
- 2019-07-31 CN CN201910702463.5A patent/CN110361720B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN86201612U (en) * | 1986-03-26 | 1987-03-25 | 中国科学院北海研究站 | Sonar sound-receiving array for passive distance measurement |
| EP1956147B1 (en) * | 2007-02-09 | 2012-04-18 | Geosec S.r.l. | Local seismic protection method for existing and/or possible construction sites destined for the foundation areas and those surrounding the building construction |
| CN102269816A (en) * | 2011-05-06 | 2011-12-07 | 中南大学 | Ultrasonic underwater microtopography detection testing device and method |
| CN105465611A (en) * | 2015-11-16 | 2016-04-06 | 武汉中仪物联技术股份有限公司 | Sonar detection method for water drainage pipeline |
| CN205720658U (en) * | 2016-04-15 | 2016-11-23 | 青岛卓建海洋工程勘测技术有限公司 | Remotely control bottom mounted sonar detecting devices |
| CN205562027U (en) * | 2016-04-29 | 2016-09-07 | 陈蜀乔 | Two -dimensional vector field hydrophone |
| CN107918132A (en) * | 2017-11-01 | 2018-04-17 | 北京臻迪科技股份有限公司 | Underwater ultrasound phased array detection system and undersea detection method |
| CN208506244U (en) * | 2018-07-03 | 2019-02-15 | 交通运输部天津水运工程科学研究所 | A kind of swath sounding instrument depth measurement based on prototype deep water basin and sweep wide feature calibration system |
| CN109283511A (en) * | 2018-09-01 | 2019-01-29 | 哈尔滨工程大学 | A kind of wide covering multi-beam reception basic matrix calibration method |
Non-Patent Citations (6)
| Title |
|---|
| Optimized MBES antenna and system for high resolution sonar imaging and AUV applications;C.Degel;《2012 Oceans》;20130111;1-6 * |
| 基于Geo TIFF的航海雷达模拟器图像;李丽;《中国优秀硕士学位论文全文数据库 信息科技辑》;20170315;全文 * |
| 基于VxWorks和FPGA的均匀圆形相控阵设计;周全;《中国优秀硕士学位论文全文数据库》;20080215;全文 * |
| 基于传声器阵列的声源定位系统的初步研究;黄海军;《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》;20130615;全文 * |
| 外耳内壁上的皮瓣在仿生声纳天线中的作用;卢红旺;《中国优秀硕士学位论文全文数据库》;20090115;全文 * |
| 微细超声换能器及其驱动电路研究;邬婷;《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》;20120315;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110361720A (en) | 2019-10-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110361720B (en) | Sonar sound collecting board control method | |
| US6438071B1 (en) | Method for producing a 3D image | |
| CN110703203A (en) | Underwater pulsed sound positioning system based on multi-acoustic wave glider | |
| CN108519576B (en) | Underwater direction of arrival estimation method and device based on included angle adjustable non-uniform linear array | |
| WO2019127621A1 (en) | Ultrasonic imaging method, system and device | |
| JP5621499B2 (en) | Pulse radar equipment | |
| JP6469357B2 (en) | Underwater detection device, underwater detection method, and underwater detection program | |
| CN109407052B (en) | Linear array transducer channel consistency calibration method | |
| CN111239689A (en) | Sound wave positioning method of mobile robot, sound wave receiving device and robot system | |
| CN115047464B (en) | Double-probe multi-beam sounding method and device | |
| CN113534161B (en) | Beam mirror image focusing method for remotely positioning underwater sound source | |
| CN110095755B (en) | Sound source positioning method | |
| CN1703629A (en) | Installation and method for acoustic measurement with marker microphone in space | |
| CN109281651A (en) | A kind of ultrasonic borehole wall imaging method applied to cylinder supersonic array | |
| RU2444747C1 (en) | Method of determining bearing of noisy object | |
| CN101799544A (en) | Space locating method and system based on sound waves | |
| CN114924317A (en) | Seabed photoelectric composite cable positioning method based on distributed acoustic sensing | |
| CN111142072B (en) | Microphone array optimization method for sound source localization | |
| US9081084B2 (en) | Ultrasound system and method for processing beam-forming based on sampling data | |
| CN109752705A (en) | High-frequency water acoustic array performance parameter measurement method and system, equipment and storage medium | |
| RU2476899C1 (en) | Hydroacoustic complex to measure azimuthal angle and horizon of sound source in shallow sea | |
| CN114779211A (en) | Laser pulse radar equipment and point cloud density improving method and equipment | |
| WO2022041006A1 (en) | Motor and vibration detection system and method thereof | |
| JP2011247624A (en) | Underwater detection device and underwater detection method | |
| RU2308054C2 (en) | Hydroacoustic synchronous long-range navigation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |