TW394833B - A method for carrying out an underwater search and location, and underwater system based on said method - Google Patents

Abstract

A method for locating a first member by a second member, both members being under water and being in relative motion one with respect to the other, comprising: a. Predefining an ultrasonic frequency common to both said members; b. Providing to the first member a transmitting apparatus suitable to transmit said common frequency, and to the second member a receiving-locating apparatus tuned to receive in said common frequency; c. Transmitting into the water from the location of said first member a signal in the form of an ultrasonic wave, having said predefined frequency; d. Determining by the apparatus of said second member the shift <DELTA>f of the frequency of the received signal from said predefined frequency; and e. Determining by said second member the direction in which the said frequency shift is positively maximized, said direction indicating the direction to he first member.

Description

A7 B7 Consumption cooperation by employees of the China Central Standards Bureau of the Ministry of Economic Affairs, printed by Du, i. Description of the invention (//) Field of the invention The present invention relates to a method for searching and locating underwater movement and fixing according to the Doppler effect. People or objects, and it's about a system to perform the method. BACKGROUND OF THE INVENTION The need to monitor people, animals or objects, and to find their actual location when necessary, has led to the development of many positioning systems. Many different methods are known for determining the position of a person or an object, and different systems of knowledge have been developed for this purpose. Naturally, most systems and methods are related to the surface, that is, the ground positioning, and these methods and systems cannot be effectively used in water. Of course, the general positioning requires some type of communication between the searching party and the monitored object. It is known that electromagnetic waves decay significantly when transmitted through water. In fact, electromagnetic communication is not used for short-distance underwater communication 'because communication equipment requires high power, and extremely long antennas must be used at both ends of the transmission and reception. For short-distance underwater communication and / or for underwater search and positioning functions, the conventional system uses sound waves and ultrasonic waves, generally in the frequency range of 5kHz to 600kHz. Most conventional surveillance Although the positioning and search system operates underwater using ultrasonic waves, it uses technologies similar to those used on the ground for similar surface systems operating with electromagnetic waves. The need to monitor and locate divers is very important. This technology has been put into considerable efforts to meet the requirements to improve the safety of diving, and it is special. _______ _4 (Please read the precautions on the back first ^^ write this page) • Install ·, vs — silk /.· This paper The standard is applicable to the China National Standard (CNS) A4 specification (2 丨 〇2 &lt; &gt; 7 public funds) A7 B7 Printed by the Shell Consumers Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs 5. The invention description (&gt;) is to enable divers to Communication between them and / or with a monitoring unit such as a ship. For example, Israeli Application No. 121561, jointly filed on August 18, 1997, discloses a personal communication device that can be carried by a diver, which also allows a diver to send messages to other Divers and / or base stations, or receive messages from other divers and / or base stations. Such equipment and conventional equipment allow a diver in distress to transmit an emergency signal. In this example, it is often important to locate the diver immediately and dispatch one or more rescue divers to the diver. For the sake of this project, it is of course desirable to be able to provide divers with a portable device that can send and receive messages, especially emergency signals, and can further locate the equipment that issued the emergency signal. Devices capable of receiving emergency messages from an underwater device, tracking its location, and / or finding its direction already exist in this technology. For example, French patent 2,724,363 discloses a system for locating divers in distress. The system includes a first portable device carried by a diver, the device being capable of transmitting an ultrasonic emergency signal &apos; and a second device capable of receiving the emergency signal. By using a highly directional ultrasonic antenna (also commonly referred to as a hydrophone or a transducer) in the receiving device, the receiver is carried The diver can find out which direction the emergency signal is from by searching in which direction the power received is the largest. Other devices are known to combine features such as sending messages and finding the location or direction of a distressed person in distress. However 'e.g. according to France. — ___5__ ^ Applicable to the Chinese National Standards (CNS) 8 and 4 (210X 297 public epidemic) (please read the precautions on the back page) • Installation. Staff of the Central Standards Bureau of the Ministry of Economic Affairs Consumer Cooperative printed A7 B7 ^. _ &Quot; 1 _ 1 '——- V. The device of the method of patent description (i) 2,724,363 suffers from a major disadvantage. In order to be able to transmit general messages including emergency messages The receiver must have an omnidirectional ultrasonic antenna (water listener). However, in order to perform this positioning action, the receiver must use a highly directional ultrasonic antenna. Therefore In order to perform these actions, there must be two separate antennas in each receiver. In addition, the directional underwater listeners like the conventional devices have a slender shape, and they are both Quite long, and usually takes up more volume and is heavier than an omnidirectional underwater listener. Of course, any reduction in volume and weight of a portable device for divers Important. One object of the present invention is to provide a method for locating divers in distress in a simple, small, and low cost manner. Another object of the present invention is to provide a method for locating distress in distress. The diver's method requires an omnidirectional ultrasonic antenna to be used on the positioning device. Another object of the present invention is to provide a portable transmitter for divers, wherein each receiver is Able to send and receive multiple different messages, especially emergency messages, and to find out where the emergency messages are sent. Each transmitter used for these purposes uses only a single omnidirectional ultrasonic antenna (underwater Listener). Of course, it is similar to a first omnidirectional antenna with two antennas for transmitting and receiving messages from all directions, and a second highly directional antenna for performing positioning operations. When the receiver is compared, the cost of such a receiver is reduced. Therefore, the size and weight of the receiver according to the present invention are greatly reduced. --------------- -6 _ paper Zhang scale is applicable to Chinese National Standards (CNS) ‘M specifications (21 () × 2 () 7 public funds) (Please read the precautions on the back page first)

P. Equipment. Binding line A7 --- ~~~ ---- B7 _ 5. Explanation of the invention ((|) ~-Another object of the present invention is to provide a method for underwater navigation. Another object of the invention is to provide a beacon which can be used for navigation according to the Doppler effect and can be used to locate a clear underwater position. The purpose and use of the present invention will be described later. The main point of the present invention is a method for positioning a first member (hereinafter also referred to as "member B") by a second member (hereinafter also referred to as "member A"). Method 'The two members are both underwater and moving relative to each other, which includes: a. Predefining a common ultrasonic frequency for the two members; b. Providing the first member with a suitable one to transmit the common A transmitting device of frequency 'and providing the second member with a receiving and positioning device which is tuned to receive in the common frequency; c. Transmitting a signal in the form of an ultrasonic wave from the position of the first member into the water, The signal has the prior D. The second member ’s device determines the frequency shift of the received signal from the pre-defined frequency △ /; and e. The second member determines that the frequency shift is positive maximum 値The direction indicates the direction toward the first member. The frequency shift △ / is expressed by the following formula: This paper size is applicable to the Chinese National Standard (CNS) A4 specification (2 丨 0 X2 () 7mm (B) Λ7 B7 V. Description of the invention (f) Printed by the Consumer Cooperatives of the Central Bureau of Standards of the Ministry of Economy vp ^ i A, r V c〇Δ / ~ + / 〇-cos 沪 co where υ indicates that the second member An absolute velocity in an arbitrary direction, P is an angle between the direction of movement of the second member and a straight line connecting the positions of the first and second members, and ~ is the speed of propagation of the ultrasonic wave in water, and Z is the depth of member B. The first and second members are preferably equipment provided to the diver, and the signal is an emergency signal activated by a diver in distress. The invention is more relevant To locate objects underwater A system comprising: a) a transmission device attached to a first object to be located, comprising a signal generator for generating a signal, the frequency of which is in the ultrasonic range An underwater listener for receiving the transmission of the signal, which is used to convert the signal into an ultrasonic wave, and is used to transmit the signal into the water t and b)-one for searching the first object The receiving-positioning device carried by the second object in the direction includes: a hydrophone for receiving a received ultrasonic wave transmitted by the transmitting device of the first object, and used for converting the ultrasonic wave into一 电 _8_ This paper size applies to Chinese National Standard (CNS) Λ4 specification (2I0X297 public holiday) {Please 'read the precautions on the back first and write this page) 1 ^ ¾ • Loading ·

1. A7 B7 printed by the Consumer Cooperatives of the Central Bureau of Standards, Ministry of Economic Affairs of the 1T line. 5. Description of the invention (L) gas signal; a FM detector tunable to receive the electrical signal from the underwater listener, and output An indication voltage whose amplitude corresponds to the frequency of the electrical signal and the ultrasonic wave transmitted by the transmission device of the first object. The frequency shift between △ /; indicating mechanism to indicate the intensity and polarity of the indicated voltage. The second object and the first object are preferably two divers, and the signal generator is activated by the first diver in a crisis, thereby generating a signal defined as an emergency signal. Preferably, the transmission device is further provided with a button, and the emergency signal is activated when the button is pressed by the diver. According to an embodiment of the present invention, the indicating mechanism is a visible indicator, such as an indicator having a scale analogy. Or 'The visible indicator may be, for example, an indicator composed of light-emitting sections (? Egment), each section represents a voltage range of the indicated voltage, and a single section is at the corresponding indicated voltage at the time When the level is on, according to another embodiment of the present invention, the indicating mechanism is a digital indicator. According to still another embodiment of the present invention, the indicating mechanism is a sound indicator, such as a diver's headset. The indication voltage is converted into a sound signal, the frequency of the sound signal is related to the intensity and polarity of the indication voltage, and the sound signal is converted into an indicator of the sound. 9 This paper size is applicable to China National Standards (CNS) Λ4 is now (2 丨 〇 乂 297 public celebration)!. Packing-(Please read the precautions on the back first ¾ this page)

1T — line C '· 1: 5. Fifth, the description of the invention A7 B7 l; i-liga; .l Brief description of the printed cooperation of employees in the Central Standards Bureau of the Ministry of Economic Affairs 衽 printed drawings' In this drawing: Figure 1 Department Draw a descriptive path along which member A is guided to find member B. Figure 2 depicts two members A and B, where member A is in motion. Figure 3 depicts the basic structure of a transmission device according to an embodiment of the present invention with a block diagram. Fig. 4a is a block diagram illustrating the basic structure of a receiving-positioning device according to an embodiment of the present invention. Fig. 4b is a linear relationship diagram between the output of the FM detector (FMD) from the receiving-location device and the eight /. Fig. 4c is a diagram illustrating an FMD according to an embodiment of the present invention. Block diagram of the structure. Fig. 5 is a block diagram describing a transmission device according to an embodiment of the present invention in more detail. Fig. 6 is a block diagram describing a receiving-location device according to an embodiment of the present invention in more detail. Fig. 7 is a diagram for describing a mechanism for indicating a frequency shift Δ / level at a receiving-positioning device according to an embodiment of the present invention. Fig. 8 is a diagram for indicating a position according to another embodiment of the present invention. The mechanism of the frequency shift △ / level at the receiving-positioning device. Description of the preferred embodiment Figure 1 shows two divers A and B in the water. Suppose diver B is in danger and sends an emergency signal, Divers A should be equipped with useful. 10 This paper size applies the Chinese National Standard (CNS) Λ4 specification (210X 297 male thin) Sample reading back binding binding, line A7 B7 Printed by the staff consumer cooperative of the Central Standards Bureau of the Ministry of Economic Affairs 2. Description of the invention (ζ0 to reach the mechanism of diver B. Suppose diver B is coordinated with object A, or it is passive ', and it is assumed that diver A is in the water in general, and it can be used in all directions Under unrestricted movement, Figure 1 shows a possible path that diver A can take to diver B. As shown in the figure, 'If A is given a general direction pointing to B at any position on its route' And when it moves in this direction, it will find and reach diver B. Ai, A2, A3 and A4 indicate the possible positions on the route to move along A to reach object B. Of course, diver a The more accurate the direction to B is given, the shorter the route to B. The present invention provides a mechanism for diver A to find the arrival dive when receiving an emergency signal from diver b. The direction of the diver B. The direction given to the diver B by the present invention is more accurate than that shown in the general example of Fig. 1. More specifically, the present invention provides a device to the diver A, upon receiving the diver by the diver. The equipment carried by B The emergency signal is used to find out the direction to reach diver B. According to an embodiment of the present invention, the emergency signal is a sine wave with a known and predetermined frequency that is completely ultrasonic. The sine wave system A suitable antenna, such as a hydrophone, is used to transmit it into the water. The sinusoidal signal is only a possibility. Signals of other shapes can also be used. The A system carries a signal that is tuned to the predetermined frequency. Λ and a device capable of receiving the emergency signal. If both divers A and B are stationary relative to each other, the device of A receives the emergency signal at the same frequency / 0. However, due to the Doppler effect It has a high impact on the propagation of ultrasonic waves in water. Therefore, if the signal is transmitted. ___ ^ __ 11 (please read the precautions on the back first to write this page) -5 Ding Liang This paper applies Chinese national standards ( CNS) A4 specification (210X297 Gong Ning)

I The Ministry of Economic Affairs 4-Central Standard Bureau employee consumer cooperative printed A7 B7 V. Description of the invention (1) When there is a relative displacement between divers A and B during broadcasting, the frequency received at A will be different At the frequency of the transmitted signal. A measurable size. Of course, at the frequency of the transmitted signal /. The frequency difference 値 (also known as "frequency shift,") from the frequency of the signal received at A is based on the relative speed between A and B. More specifically, the frequency difference 値 △ / Can be expressed by the following formula 'when replacing the pattern appearing in the conventional Doppler formula, for example in FB JTensen, WA Kuperman, MB Porter, H. Schmidt, etc.' by the New York AIP newspaper / Mode on page 162 of "Computational Ocean Acoustics". ΓΤ57 V 1 + -— V c0 δ / «+ / 〇 二-二 φ where w indicates that object A is in an arbitrary direction (assuming The direction A pointing to B is not really known, and therefore A is the absolute speed of moving in either direction) is the angle between the moving direction of A and the line AB, as shown in Figure 2, and Q is the emergency The propagation speed of the signal's ^ sound waves in water is generally about 1550 meters per second, and 2 is the depth in meters of object B. It is interesting that even for A and B, there is a very small relative velocity, such as Divers 'average swimming speed' the size of this frequency moving A / still It can be easily measured. It should be noted here that if A moves toward B (or A and B move toward each other), the resulting Δ / is positive; however, if A is away from B, of course The resulting △ / is negative. The sign of △ / can be easily determined by a suitable device, as will be explained in detail below. For example, for a typical example 'where the emergency frequency Λ is predicted. __12_____ This paper size Applicable to China National Standard (CNS) Λ4 specification (2 丨 0 × 2 () 7mm). Equipment— (| Please read the precautions on the back of this page 1¾ this page) Thread Printing A7 B7 printed by the Central Consumers Bureau of the Ministry of Economic Affairs 2. Description of the invention ([〇) First set at 40kHz, the depth Z at which the diver emits the emergency signal is 7 meters, G is 1550 meters per second, and the angle Φ is below 30, due to the Doppler effect. For the sake of this, a frequency shift of 22.46 Hz will produce 0. In order to find the direction of B, the following two conditions must be satisfied: (a) In order to have a predetermined frequency of the emergency signal transmitted at B and the frequency received by a Doppler Effect The starting frequency should have a certain relative speed between A and B. More specifically, since A cannot rely on B to move (assuming B is in danger), it is better for diver A to move. (B ) From the above formula, it is clear that △ / is the positive maximum only when the absolute speed between divers A and B is maximum. This occurs when less = 〇. In order to determine the correct direction to B, also That is to say, in the direction of Φ = 0, diver A should decide which direction is the maximum value of positive frequency Δ / caused by the Doppler effect when 〃 is fixed. Condition (a) can be easily satisfied, because even when the diver D in danger fails to move, at least the diver A who is searching is generally moving in some arbitrary direction. Of course, for the purpose of the present invention, any one of the divers of 'A or B' can be satisfied. Condition (b) can be satisfied by providing diver A with a suitable device as described below, which is used to find the direction of the maximum chirp in which the frequency shift A / is positive due to the Doppler effect. Divers A should obtain the maximum positive △ / 値 according to the equipment they are equipped with, but only modify the direction of movement.-一 _ 13___ This paper size is applicable to China National Standard (CNS) A4 size (210 × 2ί) 7 male Ji :) (#Read the notes on the noodles first and write this page) • 装 _

、 TT line 1 A7 ____B7 V. Description of the invention (") The measurement and display of the level of △ /. If it is determined that it is a negative △ /, the diver should change his diving direction by 180 ° and continue to look for △ / appearing on the display screen is the direction of positive maximum 値. The above method is especially used to find the direction in water. Ultrasound is almost a special mechanism for communication, because when ultrasonic waves propagate through water, they have the Doppler effect. According to the simplest embodiment of the present invention, diver B in action, hereinafter referred to as "active diver", is equipped with a device capable of transmitting emergency signals into the water. According to an embodiment of the present invention, the emergency signal is a pure ultrasonic sine wave. Another diver A, hereinafter referred to as a "supervised diver", is then equipped with another receiving and positioning device. According to the present invention In one embodiment, the basic structure of the simplest version of the transfer device 4 is shown in Fig. 3. The transfer device is provided with an emergency button 1. When in danger When the diver presses the button 1, it will cause the signal generator 2 to generate an ultrasonic signal with a frequency / 0. This frequency is then supplied to a transmitting underwater listener 3, which is transmitting A pure sine wave of type / 7 &lt; 〇 = A „iCOS (2 7r / .ί) enters the water. The figure shows the basic structure of the simplest version of the receiving and positioning device 5 according to an embodiment of the invention. As shown in the figure, after propagating in the water, the emergency signal of the type /β(ί)=^./03[27Γ(/;+△/))0]+_) is received by the underwater listener 21 Received. The “„ ”indicates the amplitude of the received signal,“ Δ / ”indicates the frequency shift caused by the Doppler effect, 0 indicates a random phase, and“ ⑺ ”indicates additive noise. From this paper ^^ Exemption 2 丨 () X Ergongchu) Consumption cooperation of employees of the Central Standards Bureau of the Ministry of Economic Affairs 衽 printed A7 ______B7 V. Description of the invention (k) The receiving underwater listener 21, the signal is transmitted To an FM detector (FMD) 22. The FMD system is tuned to a center frequency / as defined by the emergency signal. . From this FMD 22, a DC output · Δ / which is linearly related to Δ / is output. The Tupu system shows the relationship between 7? 01 ^ and ‘where tana = ruler. More specifically, the parameter tana is an internal parameter of the FMD 22, which actually represents the sensitivity of the FMD 22. FIG. 4c is a block diagram illustrating the structure of the FMD 22 according to an embodiment of the present invention. A signal A (i) = A „C0s [2 7Γ (/.+△/)/+ 0] is supplied from the underwater listener 21 to the band-pass filter 221, which represents the amplitude of the signal , / 〇 is the frequency of the signal transmitted by the transmission device, △ / is the frequency shift caused by the Doppler effect in water, and 0 is the phase shift. The center frequency is set as a band of The pass filter removes noise beyond the frequency band from the signal. The signal is then differentiated by block 222, which performs the following operations on the signal, where A is a constant. Therefore, the result of block 222 The result is: 2 π KdAinif〇 + A /) sin [2 π (f〇 + Af) t + θ] ° Then this signal is supplied to a wave seal detector 223, which outputs a signal type: 2 7Γ KdA in (f 3 + Δ /) ° Then the signal is passed through a low-pass filter 224, which further reduces the noise added to the signal in the previous processing. The next type is Kp ^ ifo &quot; ' &quot; Δ /), KpM— ^ 7t KdAj „(Please read the back-to-side precautions on this page first}. Binding line This paper size applies Chinese national standards (CMS) A4 specification (210X 247 gong) Consumer cooperation of the Central Bureau of Standards of the Ministry of Economic Affairs printed A7 ___ B7 ____ V. Description of the invention (The signal of fy is output from the low-pass filter 224 and is supplied to a total Block 225. This sum block 225 receives the signal from the low-pass filter as its first input and subtracts from this signal another signal that is supplied to its second input. The resulting output is a DC signal , Its intensity is directly proportional to Δ /. It should be noted that Λ is a known parameter, which is predefined in the receiving and transmitting equipment, and the / in these equipment is equal, The "amplitude" is the amplitude of the signal input to the FMD unit 22, which is known because it is the level after the received signal is normalized by, for example, an AGC (Automatic Gain Control) block (not shown). The magic line is the gain of the differential block 222. Therefore, the input into the block 225 is based on the fact that all parameters are known. At the same time, it should be noted that the present invention is not limited to a specific type of FM. Detector' Any type of FM detector can be used. The only important parameter that must be accurate is that the FMD 22 is tuned to the frequency Λ ° and the frequency y; it is predefined, so the frequency of the transmission device 4 ', and the reception The frequencies 'tuned to' by the FMD 22 of the device are equal. The underwater listener 3 of the transmitting device 4 and the underwater listener 21 of the receiving device 5 are omnidirectional underwater listeners. When necessary, Generally speaking, the same underwater listener can be used for both transmission and reception. Different from a positioning device in which a directional underwater listener is required in the receiving and positioning device, the receiving and positioning device of the present invention can utilize an omnidirectional underwater listener. As the person skilled in the art can recognize 'the use of omnidirectional hydrophones is an advantage', it allows the combination of other 16 standard application standards (CNS) A4S (210X297 mm) in the same device (Please (Note ^^)

1. Printed by the Central Bureau of Standards of the Ministry of Economic Affairs of the Ministry of Economic Affairs and Consumer Cooperatives A7 B7__________ 5. Description of the invention (丨 十) Features like receiving general information from any direction, without the need to use two separate to perform the Two main features are directional and omnidirectional water listeners. In addition, it is possible to dispense with the use of a long, bulky, and large volume directivity hydrophone as described above. A more detailed schematic diagram of one of the transmitting and receiving and positioning devices is shown in Figs. 5 and 6, respectively. As shown in FIG. 5, the transmission device 4 includes a sine wave generator (SG) 2 which is activated when a diver presses the emergency button 1, and a power amplifier (PA) for amplifying the sine wave ) 6. An omnidirectional hydrophone 3 for converting the electrical sine wave into an ultrasonic signal and transmitting the ultrasonic signal into the water. The receiving and positioning device 5 (FIG. 6) includes a hydrophone 21 for receiving the ultrasonic signal and replacing the ultrasonic signal with an electrical signal, and an amplifying the electrical signal, and The amplified signal is passed to a band-pass filter (BF) 25 amplifier at 24 ° with a center frequency of /. The bandpass filter 25 is used to reduce the noise of the signal added to the water. The bandwidth of the BF 25 is set to 2Δ /-, where the frequency shift is related to the maximum possible speed. The signal from the band-pass filter 25 is then sent to a limiter (LM) 26, which limits the signal to a level suitable for the input of the FMD 22. The FMD 22 is tuned to the frequency / required for its operation. ° From this FM detector 22, a DC voltage is proportional to the frequency shift caused by the Doppler effect △ / of. The DC voltage is sent to the display or the level of the sound mechanism (DS) 27 to indicate the level As well as symbols. The indication level and symbol display or sound 17 _____ This paper size is applicable to the Chinese National Standard (CNS) Λ4 specification (2 丨 〇: &lt; 2 () 7 revolution) (Please read the note of the back dealer first Matters ^^? $ This page). Installation. Ordering 丨 Printed by the Consumer Standards of the Central Standards Bureau of the Ministry of Economic Affairs A7 B7 V. Description of Invention (丨 彳) The institution 27 is also known and can have different types. According to an embodiment of the present invention shown in Fig. 7, the display or sound mechanism 27 includes light-emitting segments 41 for indicating the level of Δ / (indicated by). For example, if the heart of a DC level of + 4V represents a delta / shift of 40Hz and 仏 ^ of -4V represents a delta / shift of -401 ^, then the + 2V level is related to a delta / shift of 20Hz. Figure 7 shows how the -20Hz displacement is indicated. According to another embodiment of the present invention shown in FIG. 8, the display or sound mechanism 27 includes a conventional analog scale. As shown in the figure, the scale 28 is based. „, DC level to indicate negative or positive displacement. According to still another embodiment of the present invention (not shown), and the DC voltage can be converted into a sound signal whose frequency depends on the DC level It depends. The sound signal can then be supplied to the diver's headphones. In order to find the correct direction, the diver should try to sense that the frequency of the sound signal is the largest direction. Although three are used for this display Or a different mechanism of the sound mechanism 27 is disclosed here, but many other types of indicating mechanisms can be deployed for this purpose by those skilled in the art. The receiving and positioning device _ 5 preferably further includes a decoder 31 ( (Shown in Figure 6), which receives the output of the band-pass filter 25. The decoder 31 detects any sinusoidal signal from the output of the band-pass filter 25, where the frequency of the signal is between Λ- Between △ / and Λ + △ /, the decoder 31 outputs a signal in the form of a siren sound or a series of siren sounds to the speaker 32 to warn the diver carrying the device that there is an emergency signal Detected. After hearing these siren sounds, the diver can apply the Chinese National Standard (CNS) Λ4 specification (210 &gt; &297; posthumously 1 ') according to the paper size of 13 sheets (please read the precautions on the back first ^ &lt; write this page)

, TT printed by the Consumer Standards Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs A7 ____B7 V. Description of the Invention (A) ~ According to the procedure described above to locate the dive that transmits the emergency signal _ 0. Of course, combined with the transmission of an emergency signal The two characteristics of receiving and locating the direction of the device transmitting the emergency signal are better in one device. According to the above description, the manner in which these features are combined in a transmitter-receiver device is not important and is a manner known to those skilled in the art and will not be discussed in detail here. The invention also relates to a method for underwater navigation. According to an embodiment of the present invention, a transmission device 4 like the one described above is thrown as an underwater signaler to mark a specific position underwater. The transmission device 4 continuously transmits a supersonic sine wave into the water through an omnidirectional underwater listener, just as the emergency signal transmitted by a diver in distress as described previously the way. A diver who wants to find the underwater annunciator, find the direction to the underwater annunciator, or reach the place where the underwater annunciator is installed can be the same as the diver A's Fang Wu, using the receiving and positioning Device 5 to find diver B in distress and activating ~ emergency signals. However, in this example, 'the underwater annunciator is generally stationary and does not move, so the diver operating the receiving and positioning device 5 must move to generate a Doppler displacement, so that the underwater signal can be pointed at the search. Direction of the actuator to maximize this displacement. The underwater annunciator itself can also be fixed to a ship, for example, thereby enabling a submerged person to point in the direction of the ship. In a system according to the present invention, it is also preferable that two different frequencies be defined, one for emergency signals for locating a diver in distress, and one for navigation or 19 paper sizes. Chinese National Standard (CNS) Λ4 specification (21〇X2 () 7gong) (Please read the notice on the back page first) • Installation · Thread. Ί A7 B7 V. Description of the Invention (ί)) The positioning looks like The second frequency of the underwater signaler. Although certain embodiments of the present invention have been described by way of illustration, it is obvious that the present invention can be modified in many ways within the scope of those skilled in the art without departing from the spirit of the present invention or beyond the scope of the patent application. , Changes, and adjustments, and the use of many equals and alternatives. (Please read the precautions on the back ^^ write this page first). Assembling. Threading Printed by the Central Consumers Bureau of the Ministry of Economic Affairs, Printed by the Consumers' Cooperatives 20 This paper size applies to the Chinese National Standard (CNS) Λ4 specification (210 X 297 mm)

Claims (1)

A8 Βδ C8 D8 s (&quot; ι 20 S C-+ 、 Patent for Patent 1.A method for locating the first member by the second member, both members are Under water and moving relative to each other, including: a. Predefining a common ultrasonic frequency for the two members; b. Providing the first member with a transmission device suitable for transmitting the common frequency, and providing The second member has a receiving and positioning device that is tuned to receive in the common frequency; c. Transmitting a signal in the form of an ultrasonic wave from the position of the first member into the water, the signal having the predefined Frequency; d. The second member ’s device determines the frequency shift of the received signal from the pre-defined frequency Δ /; and e. The second member determines that the frequency shift is a positive maximum direction of 値The direction indicates the direction towards the first member. 2. For the method of the first scope of the patent application, members A and B are equipment provided to the diver. 3. If applied The method of item 1 of the patent range, wherein the frequency shift Δ / is caused by the Doppler effect. 4. The method of item 3 of the patent application, wherein the frequency shift Δ / is represented by the following formula: νΙΐ + ψ △ / «+ / 〇-—COS ¢ 9 where υ represents the absolute speed of member A in an arbitrary direction, and Φ represents the angle between the movement direction of member A and the straight line connecting members A and B , Q indicates the propagation speed of the ultrasonic wave in water, and z _1_ This paper size is applicable to China National Standard (CNS) A4 specifications (210X297 mm (please read the precautions on the back page first)-Installation--Thread A8 B8 C8 2. The scope of patent application is the depth of member B. The method of item 1 in the scope of patent application, wherein the signal is an emergency signal activated by a diver in a crisis. 6. The method of claim 1 in which the signal transmitted by the device of the first member is a sine or cosine shaped signal. 7 · —A system for locating an underwater object, comprising: a) a transmission device attached to a first object to be located, comprising: a signal generator for generating a signal , Whose frequency is within the range of ultrasonic waves; an underwater listener for receiving the transmission of the signal, which is used to convert the signal into an ultrasonic wave, and is used to transmit the signal into the water ( Please read the precautions on the back to write this page first). · '1T Printed by the Consumers' Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs and b)-a reception carried by a second object searching for the direction of the first object- The positioning device includes: a receiving underwater listener for receiving an ultrasonic wave transmitted by the transmitting device of the first object, and for converting the ultrasonic wave into an electrical signal; a tunable to /. The FM detector receives the electrical signal from the underwater listener and outputs an indication voltage whose amplitude corresponds to the frequency of the electrical signal and the ultrasonic wave transmitted by the transmission device of the first object / . The frequency shift between △ /; indicating mechanism to indicate the intensity and polarity of the indicated voltage. This paper size applies to China National Standard (CNS) A4 specification (21 × 297 mm) Printed by the Central Bureau of Standards of the Ministry of Economic Affairs and Consumer Cooperatives A8 B8 C8 D8 6. Application for patent scope 8. If the scope of patent application item 7 The system 'wherein the transmitted underwater listener is an omnidirectional underwater listener. 9. The system of claim 7 in which the received underwater listener is an omnidirectional underwater listener. 10. The system of item 7 of the scope of patent application, wherein the first and second physical systems are the first and second divers, respectively. u. The system according to item 10 of the patent application scope, wherein the signal generator is activated by the first diver in distress', thereby generating a signal defined as an emergency signal. 12. The system of claim 11 in which the transmission device is further provided with a button &apos; when the button is pressed by the diver, the emergency signal is activated. 13. The system of claim 7 of the scope of patent application, wherein the finger mechanism is a visible indicator. 14. The system of claim 13 in which the visible indicator is a scale-like indicator. 15. The system according to item 13 of the patent application, wherein the visible indicator is an indicator composed of light-emitting parts, each part represents a voltage range of the indicated voltage, and a single part is When the corresponding voltage level is indicated, it is lighted. 16. The system as claimed in claim 7 wherein the indicating mechanism is a digital indicator. 17. The system according to item 7 of the scope of patent application, wherein the indicating mechanism is a sound indicator. 3 ___ --------- $-(Please read the notes on the back to write this page first), τ. This paper size is applicable to China National Standard (CNS) A4 specification (210X297 mm) A8 B8 C8 ____ —_ D8 VI. Patent Application Range 18. If the system of patent application item 17 is applied, the indication voltage is converted into a sound signal, and the frequency of the sound signal is related to the intensity and polarity of the indication voltage, and the The sound signal is converted into an indicator of the sound. 19. The system of claim 18, wherein the sound indicator is a diver's headset. 20.-A method to guide a second member to the position of a first member 'The two members are both underwater and in relative motion, which includes the steps of: (a) a pre-defined Ultrasonic frequencies transmitted in water; (b) providing the first member and the second member with a transmitting and receiving device for transmitting and receiving underwater ultrasonic signals; (c) transmitting from the position of the first member An ultrasonic signal below the predefined frequency; (d) receiving the transmitted ultrasonic signal at the position of the second member t (e) judging a representative of the transmitted signal and the received The frequency shift of the frequency difference between the signals; and (f) determining the direction of the maximum shift in which the frequency shift is positive, which indicates the direction in which the second member will move in order to find the first member. 21. An underwater positioning device comprising: an ultrasonic transmitter for transmitting an underwater ultrasonic signal under a predefined reference frequency; and one for receiving a signal having the received signal Ultrasonic frequency. ----------- 4______ This paper size is applicable to China National Standard (CNS) A4 (210XM7 mm) 8 888 ABCD VI. Ultrasonic wave of patent application scope sound wave signal A receiver; a frequency detector for detecting a frequency difference between a received signal frequency of the received underwater ultrasonic signal and the predefined reference frequency; and a frequency detector for indicating the frequency difference Indicator. 22. A positioning device comprising: a transmitter for transmitting a signal under a predefined reference frequency; a receiver for receiving a signal having a received signal frequency; and a receiver for detecting A frequency detector for the frequency difference between the received signal frequency and the predefined reference frequency; and an indicator for indicating the frequency difference. (Please read the precautions on the back before writing this page) Binding-Binding Line Printed by the Staff Consumer Cooperative of the Central Bureau of Standards, Ministry of Economic Affairs This paper size applies to China National Standard (CNS) Α · 4 size (210X297 mm)