CN103869323B - A kind of helmet-type coloured image sonar and formation method thereof - Google Patents
A kind of helmet-type coloured image sonar and formation method thereof Download PDFInfo
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- CN103869323B CN103869323B CN201410131019.XA CN201410131019A CN103869323B CN 103869323 B CN103869323 B CN 103869323B CN 201410131019 A CN201410131019 A CN 201410131019A CN 103869323 B CN103869323 B CN 103869323B
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- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/02—Divers' equipment
- B63C11/12—Diving masks
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- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- 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
- G01S7/521—Constructional features
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Optics & Photonics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention relates to a kind of helmet-type coloured image sonar, comprise sonar capsule, control enclosure, video eyeglasses; Wherein, described sonar capsule can be arranged on the helmet, and described video eyeglasses can be arranged on the eye of the described helmet; Described sonar capsule is connected to control enclosure by watertight cable, and described control enclosure is also connected with video eyeglasses by watertight cable; Described sonar capsule externally environment Firing Sonar signal receive echoed signal under the control of control enclosure; Described control enclosure processes the sonar echo signal that sonar capsule exports, and therefrom extracts the information of external environment condition, is then converted into two-dimensional image data; Described two-dimensional image data shows on described video eyeglasses.
Description
Technical Field
The invention relates to underwater detection equipment, in particular to a helmet type color image sonar and an imaging method thereof.
Background
Rivers and lakes in China are numerous, the coastlines are long, the underwater environments of the rivers and the lakes are complex, the characteristic of high sand content in river water generally exists, the water quality is turbid, the underwater visibility of seawater is low, and the difficulty and the danger are increased for underwater operation of divers. At present, when a diver carries out diving operation, the common observation mode is the vision observation by the strong light, but in insufficient light and muddy water, the visual field observable by human eyes is extremely small, and the use of the strong light is inconvenient and unsafe. Underwater imaging sonar equipment has emerged to address this problem.
The existing underwater imaging sonar equipment mainly has two forms, one is a handheld type, is used by a diver holding a handle by two hands, and has obvious defects: the two hands of the diver are bound, which is not only not beneficial to underwater operation, but also has great threat to the safety of the diver; the other type is fixed on various underwater vehicles or underwater working platforms such as UUV and the like, and has the following defects: due to the large volume and the complex assembly, the device is difficult to be matched with various working platforms. It would be advantageous to provide an underwater sonar imaging device that is small, lightweight, and easy to assemble and use.
Disclosure of Invention
The invention aims to overcome the defects of large volume, complex assembly and inconvenience in carrying of underwater imaging sonar equipment in the prior art, and provides a helmet-type color image sonar for divers.
In order to achieve the above object, the present invention provides a head-mounted color image sonar, comprising a sonar head 1, a control box 2, video glasses 3; wherein the sonar head 1 is mountable on a helmet, and the video glasses 3 are mountable on the eyes of the helmet; the sonar head 1 is connected to the control box 2 through a watertight cable, and the control box 2 is also connected with the video glasses 3 through the watertight cable;
the sonar head 1 transmits sonar signals to the external environment and receives echo signals under the control of the control box 2; the control box 2 processes sonar echo signals output by the sonar head 1, extracts external environment information from the sonar echo signals, and converts the external environment information into two-dimensional image data; the two-dimensional image data is displayed on the video glasses 3.
In the above technical solution, the sonar head 1 includes a stepping motor 11, a receiving and transmitting energy changer 12, and a transmission shaft 13; wherein, the stepping motor 11 is connected with the energy receiving and transmitting exchanger 12 through a transmission shaft 13; the stepping motor 11 rotates in a reciprocating manner within a certain angle range, and then the transmission shaft 13 drives the energy receiving and combining displacement device 12 to rotate in a reciprocating manner within the angle range; the transceiver 12 transmits and receives sonar signals at regular intervals of small angles within the angular range.
In the above technical solution, the transceiver displacement transducer 12 includes a bar-shaped piezoelectric ceramic transducer 121, a semicircular casing 122 and a lead shaft 123; the bar-shaped piezoelectric ceramic transducer 121 is positioned in the semicircular shell 122, the lead shaft 123 is mounted at the lower end of the semicircular shell 122, and the lead shaft 123 is connected with the transmission shaft 13.
In the above technical solution, the outermost side of the sonar head 1 includes a casing for protecting the stepping motor 11 and a part of the transmission shaft 13, and the casing has water tightness and can make the transmission shaft 13 rotate flexibly.
In the above technical solution, the control box 2 includes: the device comprises a signal preprocessing module 21, a signal processing module 22, a format conversion module 23, a storage module 24, a control module 25, a power supply 26 and a box body 27; wherein,
the signal preprocessing module 21 performs preprocessing operations including amplification and filtering on the received sonar echo signals, and the signal processing module 22 performs sampling, analysis and pseudo color coding on the preprocessed signals to obtain two-dimensional image data; the format conversion module 23 converts the two-dimensional image data into a data format that can be displayed on the video glasses 3; the storage module 24 is configured to store the two-dimensional image data; the control module 25 controls the imaging distance, the signal gain and the imaging range angle, and controls the sonar to be started and stopped.
In the above technical solution, the control box 2 further includes an interface connected to the external land display device, and through the interface, the control box 2 can transmit the two-dimensional image data to the external land display device and can display data transmitted by the user through the external land display device on the video glasses 3.
In the above technical solution, the signal processing module 22 further includes a sampling unit 221, an analyzing unit 222, and an encoding unit 223; the sampling unit 221 samples the preprocessed sonar signals to obtain sampling signals; the analysis unit 222 performs FFT operation on the sampled signal to obtain a value reflecting the signal strength; the encoding unit 223 performs pseudo color encoding on the obtained value reflecting the signal intensity, that is, finds out the most suitable color for display of each point according to the reflection coefficient of the object, thereby generating two-dimensional image data.
In the above technical solution, the video glasses 3 include a lens 31, an amplifying assembly 32, and a micro display 33, which are sequentially arranged in a video glasses barrel 34; wherein the micro-display 33 generates a two-dimensional image according to the received two-dimensional image data, and the user's gaze sees the two-dimensional image on the micro-display 33 through the lens 31 and the magnifying component 32, which can reflect the external environment; the video-eye tube 34 has water-tightness.
The invention also provides an imaging method realized based on the helmet-type color image sonar, which comprises the following steps:
step 1), a diver turns on a power switch through a control box 2 and sets an imaging distance, a scanning angle range and signal gain;
step 2), the receiving and combining energy-exchanging device 12 in the sonar head 1 starts to emit acoustic pulses outwards after receiving the command; the sound pulse is received by the receiving and transmitting transducer 12 after being reflected by the front target, a line sonar signal in sector display is generated, and the generated sonar signal is transmitted to the control box 2;
step 3), the control box 2 preprocesses the sonar signals including amplification and filtering, and then samples the sonar signals to obtain sampling signals; after FFT operation is carried out on the sampling signals, values reflecting the signal intensity are obtained, pseudo color coding is carried out on the values, and one line of sector display image data is generated and stored;
step 4), the stepping motor 11 in the sonar head 1 rotates according to a set angle, the step 2) and the step 3) are repeated at each angle to form one line in the fan-shaped display image data, and the fan-shaped display image data are obtained after the data of each line obtained by the sonar head (1) at each rotation angle are spliced;
step 5), when the external land display equipment is disconnected from the control box 2, the sector display image data is only subjected to format conversion, converted into a data format capable of being displayed in the video glasses 3, and transmitted to the video glasses 3; when external land display device with when control box 2 connects, two-dimensional image data divide into two the tunnel and transmit, directly transmit to external land display device all the way and show, simultaneously, external land display device sends information for the diver, and the information display that sends is on the video glasses 3 that the diver wore, and another way is after format conversion, transmits video glasses 3 show.
The invention has the advantages that:
1. the helmet-type color image sonar of the invention transmits and receives signals through the receiving and transmitting combined transducer, and avoids the problem of large-scale operation in a mechanical scanning mode of the stepping motor, thereby ensuring the small and exquisite circuit structure;
2. the helmet-type color image sonar is provided with eyes for a diver through underwater display, can provide real-time images of the underwater surrounding environment for the diver, and can adjust the observation visual range and distance through the control box, so that underwater real-time conditions can be better mastered;
3. the helmet-type color image sonar can image underwater targets in real time, displays the images in front of divers, and simultaneously stores image data, so that the divers can conveniently check the images later;
4. the helmet type color image sonar has the advantages of small volume, light weight, low power consumption and high imaging resolution;
5. the helmet-type color image sonar can be installed on a diver helmet like a head lamp, can be conveniently hung on a diver belt, can meet the requirement of underwater search of the diver, liberates the two hands of the diver, enhances the underwater operation freedom degree and the comfort degree of the diver, can be displayed on the land in real time, can be easily fixed at each position of various underwater working platforms, and meets the requirements of underwater environment and target imaging under various conditions.
Drawings
Fig. 1 is a schematic structural view of a head-mounted color image sonar of the present invention;
FIG. 2 is a schematic diagram of the construction of a sonar head in one embodiment;
FIG. 3 is a schematic diagram of the structure of the control box in one embodiment;
FIG. 4 is a schematic diagram of the structure of a signal processing module in the control box in one embodiment;
FIG. 5 is a schematic diagram of the structure of video glasses in one embodiment;
fig. 6 is a schematic structural diagram of a transmitting/receiving transducer in a sonar head in one embodiment.
Description of the drawings
1 sonar head 2 control box
3 video glasses 11 stepping motor
12-transmission-reception combined energy-exchanging device 13 transmission shaft
14 watertight joint 21 signal preprocessing module
22 signal processing module 23 format conversion module
24 storage module 25 control module
26 Power supply 27 case
31 lens 32 magnification assembly
33 micro display 34 video eye lens barrel
121 bar-shaped piezoelectric ceramic transducer 122 semicircular polyformaldehyde shell
123 lead spool 221 sampling unit
222 analysis unit 223 encoding unit
Detailed Description
The invention will now be further described with reference to the accompanying drawings.
Referring to fig. 1, the head-mounted color image sonar of the present invention includes a sonar head 1, a control box 2, and video glasses 3; wherein, the sonar head 1 is connected to the control box 2 through a watertight cable, and the control box 2 is also connected with the video glasses 3 through a watertight cable.
The modules of the present invention are further described below.
The sonar head 1 may transmit sonar signals to the external environment and receive echo signals. Fig. 2 is a schematic structural diagram of the sonar head 1 in one embodiment, and as shown in the figure, the sonar head 1 includes a stepping motor 11, a transceiver energy changer 12, and a transmission shaft 13; the stepping motor 11 is connected with the energy receiving and transmitting displacement device 12 through a transmission shaft 13. The stepping motor 11 can rotate in a reciprocating manner between 0 and 150 degrees, and the transmission shaft 13 drives the receiving and combining energy-exchanging device 12 to rotate in a reciprocating manner between 0 and 150 degrees. The transceiver 12 transmits and receives sonar signals at regular intervals (0.45 degrees in this embodiment, or other angles in other embodiments) within the range of 0-150 degrees. The sonar head 1 also includes a watertight connector 14 through which the sonar head 1 is connected to a watertight cable, which in turn is connected to the control box 2. Since the sonar head 1 needs to be mounted on a diver's helmet, the sonar head 1 should have features of small volume, light weight, good shell watertight performance, and the like. For this reason, the stepping motor 11 is required to satisfy not only the dimensional specification but also the motor strength, and the motor used is 25BYHJ 60-404A. Referring to fig. 6, the transceiver 12 includes a bar-shaped piezoelectric ceramic transducer 121, a semicircular polyoxymethylene casing 122, and a lead shaft 123; the strip-shaped piezoelectric ceramic transducer 121 is located in the semicircular polyformaldehyde shell 122, a lead shaft 123 is installed at the lower end of the semicircular polyformaldehyde shell 122, and the lead shaft 123 is connected with the transmission shaft 13. The semi-circular polyoxymethylene shell 122 serves two functions, one is to protect the piezoelectric ceramic transducer 121 from being broken by impact, and the other is to ensure that the emitted energy of the transducer is concentrated to the front without being diffused to the back. The outermost side of the sonar head 1 comprises a shell for protecting the stepping motor 11 and part of the transmission shaft 13, and the shell can ensure that the transmission shaft 13 can rotate flexibly and can ensure that the underwater sound is sufficiently watertight for 50 meters.
The control box 2 processes sonar signals output by the sonar head 1, and extracts external environment information from the sonar signals to obtain two-dimensional image data for reflecting the external environment information. The two-dimensional image data generated by the control box 2 is transmitted to the video glasses 3 after format conversion, and optionally, the two-dimensional image data can also be transmitted to an external land display device. Fig. 3 is a schematic structural diagram of the control box 2 in one embodiment, and as shown in the figure, the control box 2 (a part inside a dashed box in fig. 3) includes a signal preprocessing module 21, a signal processing module 22, a format conversion module 23, a storage module 24, a control module 25, and a power supply 26, which are all located in a box body 27.
The signal preprocessing module 21 includes a preamplifier, or a filter, or both, and can perform preprocessing operations including amplification and filtering on the sonar signals collected by the sonar head 1.
Referring to fig. 4, the signal processing module 22 includes a sampling unit 221, an analyzing unit 222, and an encoding unit 223; the sampling unit 221 samples the preprocessed sonar signals to obtain sampling signals; the analysis unit 222 performs FFT operation on the sampled signal to obtain a value reflecting the signal strength; the encoding unit 223 performs pseudo color encoding on the obtained value reflecting the signal intensity, that is, finds out the most suitable color for display of each point according to the reflection coefficient of the object, thereby generating two-dimensional image data.
The format conversion module 23 converts the two-dimensional image data into a data format capable of being displayed on the video glasses 3, such as 16-bit RGB values.
The storage module 24 is used for storing the two-dimensional image data generated by the signal processing module 22. The memory module 24 is an SD card.
The control module 25 provides various types of control functions including control of imaging distance, signal gain, imaging range angle, and activation and deactivation of the entire sonar system. The imaging distance is the range to be detected by the sonar of the present invention, the sonar detection range depends on the pulse length of the sonar signal sent by the transceiver 12 and the time interval between the transmission and reception of the signal by the transceiver 12, and the control module 25 can send a corresponding control signal to the transceiver 12 to control the sonar detection range. In the present embodiment, the sonar of the present invention provides six common detection ranges of 1.5m, 3m, 12m, 23m, 50m and 100m for the diver to select. According to different detection ranges, the transmitting-receiving combined energy converter 12 sends out sonar signals with different pulse lengths, and sets different receiving time intervals for echo signals. The signal gain is used for enhancing or attenuating the echo signal so as to control the definition of the sonar image, and the selectable range is-10 dB to 30 dB. The control module 25 sends a corresponding control signal to the signal processing module 22 to implement gain control on the received signal. The imaging range angle reflects the scanning range of the sonar signal sent by the switching energy device 12 to the external environment, and the control module 25 sends a control signal to the stepping motor 11 to control the rotation angle of the stepping motor 11, so as to control the imaging range angle. The system is started and closed by the control module 25 sending out corresponding control signals.
The power supply 26 is used for supplying power to the rest of the modules in the control box 2, the sonar head 1 and the video glasses 3.
The video glasses 3 receive the two-dimensional image data from the control box 2, and then generate a two-dimensional image according to the two-dimensional image data. Fig. 5 is a schematic structural diagram of the video glasses 3 in an embodiment, as shown in the figure, the video glasses 3 includes a lens 31, an amplifying assembly 32, and a micro-display 33, which are sequentially arranged in a video glasses barrel 34, in this embodiment, according to an actual application of the present invention, a field angle of the micro-display 33 in the present invention is designed to be 28.5 °, an amplification factor of the amplifying assembly 32 is designed to be 10 ×, and the video glasses have a focusing function, which can adjust a focal length according to an actual situation, so as to optimize a visual effect and have a watertight pressure-resistant capability. The video glasses 3 are connected with the watertight cable through the watertight connector 35, two-dimensional image data are obtained from the control box 2 through the watertight cable, the micro display screen 33 generates a two-dimensional image according to the two-dimensional image data, and the two-dimensional image reflecting the external environment on the micro display 33 amplified by 10 times can be seen by the sight of a user through the lens 31 and the amplification component 32. The video glasses 3 should have good water tightness. The microdisplay 33 may be implemented as a commercially available VGA-045 microdisplay.
When the helmet-type color image sonar is used, the sonar head 1 is installed on a helmet of a diver (such as a support or a head band), the video glasses 3 are installed on the eyes of the helmet of the diver, the control box 2 is placed at a position where the diver considers convenient, such as the waist or the chest, and the sonar head 1 and the video glasses 3 are respectively connected with the control box 2 through watertight cables. If necessary, the control box 2 can be connected to an external display device placed on land through a watertight cable.
When a diver works underwater, the helmet type color image sonar of the invention has the following working process:
step 1), the diver turns on the power switch through the control box 2 and sets the imaging distance, the signal gain and the scanning angle range.
And step 2), the receiving and transmitting transducer 12 in the sonar head 1 starts to emit the acoustic pulse outwards after receiving the command. The sound pulse is reflected by the front target and then received by the receiving and transmitting transducer 12, a line sonar signal of a sector display image is generated, and the generated sonar signal is transmitted to the control box 2.
In this embodiment, it is assumed that the pulse transmitted by the transceiver 12 has a width τ, a transmission interval T, and a center frequency f0Of the sinusoidal signal. The selected imaging distance is D, the signal gain is R, and the imaging range angle is θ.
Step 3), the control box 2 carries out preprocessing such as amplification, filtering and the like on the sonar signals, and then samples the sonar signals to obtain sampling signals; after FFT operation is carried out on the sampling signals, values reflecting the signal intensity are obtained, pseudo color coding is carried out on the values, and one line of sector display image data is generated and stored.
Step 4), the stepping motor 11 in the sonar head 1 rotates according to a set angle (0.45 degrees as mentioned in the embodiment), and the steps 2) and 3 are repeated at each angle to form one line in the fan-shaped display image data, and the data of each line are spliced to obtain the fan-shaped display image data;
for example, if the scanning angle range set in step 1) is 0 to 150 degrees and the advance angle per rotation is 0.45 degrees, 333 lines of data are formed in the present step, and the 333 lines of data are spliced to generate the sector display image data.
And step 5), carrying out different subsequent processing on the two-dimensional image data obtained by the control box 2 according to different working modes. The working mode comprises the following steps: (1) the underwater display device is not connected with the ground, namely, the external display device positioned on the ground is disconnected with the control box 2, a diver independently works, and only the video glasses 3 display images and only the diver can observe the images; (2) connect with the land under water, be located the external display device on land promptly and be connected with control box 2, video glasses 3 and external display device double display this moment, the diver can observe the environment under water simultaneously with land personnel, simultaneously, land personnel can send information to the diver through the keyboard that land display device was equipped with, and these information can roll and show on video glasses, and the diver can see.
When the external land display equipment is disconnected from the control box 2, the two-dimensional image data is only subjected to format conversion, converted into a data format which can be displayed in the video glasses 3, and transmitted to the video glasses 3; when external land display device is connected with control box 2, two-dimensional image data divide into two the tunnel and transmit, directly transmit to external land device all the way and show, need not the format conversion, and simultaneously, external land display device can send information for the diver through the keyboard that is equipped with downwards, and information can show on the video glasses that the diver wore, and another way is behind the format conversion, transmits for video glasses 3 and shows.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (7)
1. A helmet-type color image sonar is characterized by comprising a sonar head (1), a control box (2) and video glasses (3); wherein the sonar head (1) is mountable on a helmet and the video glasses (3) are mountable on the eyes of the helmet; the sonar head (1) is connected to the control box (2) through a watertight cable, and the control box (2) is also connected with the video glasses (3) through the watertight cable;
the sonar head (1) transmits sonar signals to the external environment and receives echo signals under the control of the control box (2); the control box (2) processes sonar echo signals output by the sonar head (1), extracts external environment information from the processed sonar echo signals, and converts the external environment information into two-dimensional image data; the two-dimensional image data is displayed on the video glasses (3); wherein,
the control box (2) comprises: the device comprises a signal preprocessing module (21), a signal processing module (22), a format conversion module (23), a storage module (24), a control module (25), a power supply (26) and a box body (27); wherein,
the signal preprocessing module (21) carries out preprocessing operations including amplification and filtering on the received sonar echo signals, and the signal processing module (22) carries out sampling, analysis and pseudo-color coding on the preprocessed signals to obtain two-dimensional image data; the format conversion module (23) converts the two-dimensional image data into a data format that can be displayed on the video glasses (3); the storage module (24) is used for storing the two-dimensional image data; the control module (25) controls the imaging distance, the signal gain and the imaging range angle and controls the sonar to be started and closed;
the control box (2) also comprises an interface to an external terrestrial display device, through which the control box (2) is able to transmit the two-dimensional image data to the external terrestrial display device and is also able to display the data transmitted by the user through the external terrestrial display device on the video glasses (3).
2. The color image sonar at head-mounted of claim 1, wherein the sonar head (1) includes a stepping motor (11), a combined transmitting and receiving transducer (12), and a drive shaft (13); the stepping motor (11) is connected with the energy receiving and transmitting exchanger (12) through a transmission shaft (13); the stepping motor (11) rotates in a reciprocating manner within a certain angle range, and then the transmitting and receiving combined transducer (12) is driven to rotate in a reciprocating manner within the angle range through the transmission shaft (13); the transceiver transducer (12) transmits and receives sonar signals at regular intervals of small angles within the angular range.
3. The color image sonar head-mounted according to claim 2, wherein the transceiver transducer (12) includes a bar-shaped piezo ceramic transducer (121), a semicircular housing (122), and a lead axle (123); the strip-shaped piezoelectric ceramic transducer (121) is positioned in the semicircular shell (122), the lead shaft (123) is installed at the lower end of the semicircular shell (122), and the lead shaft (123) is connected with the transmission shaft (13).
4. The color image sonar according to claim 2, wherein the outermost side of the sonar head (1) includes a housing for protecting a part of the transmission shaft (13) of the stepping motor (11), the housing being watertight and enabling the transmission shaft (13) to be rotationally flexible.
5. The color image sonar at head-mounted according to claim 1, wherein the signal processing module (22) further includes a sampling unit (221), an analyzing unit (222), an encoding unit (223); the sampling unit (221) samples the preprocessed sonar signals to obtain sampling signals; the analysis unit (222) performs FFT operation on the sampling signal to obtain a value reflecting the signal intensity; the coding unit (223) performs pseudo color coding on the obtained value reflecting the signal intensity, namely, finds out the most suitable color for displaying of each point according to the reflection coefficient of the object, thereby generating two-dimensional image data.
6. The color image sonar on head of claim 1, wherein the video glasses (3) comprise a lens (31), a magnifying assembly (32), and a micro-display (33) arranged in sequence within a video-eye lens barrel (34); wherein the micro display (33) generates a two-dimensional image according to the received two-dimensional image data, and the user's gaze sees the two-dimensional image capable of reflecting the external environment on the micro display (33) through the lens (31) and the magnifying component (32); the video-eye tube (34) has water-tightness.
7. Imaging method implemented on the basis of a head-mounted color image sonar according to one of claims 1 to 6, comprising:
step 1), a diver turns on a power switch through a control box (2), and sets an imaging distance, a scanning angle range and signal gain;
step 2), after receiving a command, a receiving and combining energy-exchanging device (12) in the sonar head (1) starts to emit an acoustic pulse outwards; the sound pulse is received by the receiving and combining energy-exchanging device (12) after being reflected by the front target, a line sonar signal in sector display is generated, and the generated sonar signal is transmitted to the control box (2);
step 3), preprocessing the sonar signals by the control box (2) including amplification and filtering, and then sampling the sonar signals to obtain sampling signals; after FFT operation is carried out on the sampling signals, values reflecting the signal intensity are obtained, pseudo color coding is carried out on the values, and one line of sector display image data is generated and stored;
step 4), the stepping motor (11) in the sonar head (1) rotates according to a set angle, the step 2) and the step 3) are repeated at each angle to form one line in the sector display image data, and the sector display image data are obtained after the data of each line obtained by the sonar head (1) at each rotation angle are spliced;
step 5), when the external land display equipment is disconnected from the control box (2), the sector display image data is only subjected to format conversion, converted into a data format capable of being displayed in the video glasses (3), and transmitted to the video glasses (3); when external land display device with when control box (2) are connected, two-dimensional image data divide into two the tunnel and transmit, directly transmit to external land display device all the way and show, simultaneously, external land display device sends information for the diver, and the information display that sends is on video glasses (3) that the diver wore, and another way is after format conversion, transmits and shows video glasses (3).
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| CN201410131019.XA CN103869323B (en) | 2014-04-02 | 2014-04-02 | A kind of helmet-type coloured image sonar and formation method thereof |
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| CN104569991A (en) * | 2015-02-06 | 2015-04-29 | 中国安全生产科学研究院 | Sonar detection device for three-dimensional space of mine gob |
| CN105187775B (en) * | 2015-08-04 | 2016-11-02 | 盛泽明 | Diver's subaqueous rock avoidance system based on data communication |
| CN105072395B (en) * | 2015-08-04 | 2016-10-26 | 刘更新 | A kind of diver's subaqueous rock preventing collision method based on data communication |
| CN105059503A (en) * | 2015-08-05 | 2015-11-18 | 彭晓梅 | Clarified rock avoiding system worn by diver |
| CN105100722B (en) * | 2015-08-10 | 2019-08-23 | 武汉理工大学 | A kind of sound sighting device |
| CN109799507A (en) * | 2019-03-26 | 2019-05-24 | 南京砺剑光电技术研究院有限公司 | A kind of fusion of imaging device of two dimension sonar and auxiliary laser illumination imaging device |
| CN110045380B (en) * | 2019-04-02 | 2020-12-29 | 中国科学院声学研究所 | A portable handheld imaging sonar mechanical device |
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| CN102893236A (en) * | 2010-07-20 | 2013-01-23 | 英派尔科技开发有限公司 | Augmented reality proximity sensing |
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| US5148412A (en) * | 1991-02-21 | 1992-09-15 | American Oilfield Divers, Inc. | Diver guidance method and system |
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| CN203759244U (en) * | 2014-04-02 | 2014-08-06 | 王静 | Helmet color image sonar |
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