CN113406647A - Suspended underwater acoustic standard body capable of adjusting posture in real time - Google Patents
Suspended underwater acoustic standard body capable of adjusting posture in real time Download PDFInfo
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- CN113406647A CN113406647A CN202110566100.0A CN202110566100A CN113406647A CN 113406647 A CN113406647 A CN 113406647A CN 202110566100 A CN202110566100 A CN 202110566100A CN 113406647 A CN113406647 A CN 113406647A
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- underwater acoustic
- standard body
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- acoustic standard
- reflector structure
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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
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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
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Transducers For Ultrasonic Waves (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
本发明提出一种实时调整姿态的悬浮式水下声学标准体，该标准体的透声板是一个半球形壳体，其球壳凹面正对角反射体结构的凹面，透声板上设置有若干透水孔，浮体为带有凹槽的半球体，其凹槽形状为角反射体结构凸面的形状，角反射体结构与浮体固定连接，透声板与浮体固定连接形成一个球形；在角反射体结构凸面顶端处固定连接水平连接结构，水平连接结构连接动力系统，水平连接结构上方安装姿态测量反馈系统，连接绳上端连接角反射体结构，下端依次连接电路系统、供电系统、释放器和配重。解决了现有技术如果要得到足够大的目标强度，其体积将会变的非常巨大，不具有海上测试实施的可行性的技术问题，本发明具有体积小的优点。
The invention provides a suspended underwater acoustic standard body that adjusts the attitude in real time. The sound-transmitting plate of the standard body is a hemispherical shell, and the concave surface of the spherical shell is opposite to the concave surface of the corner reflector structure. Several permeable holes, the floating body is a hemisphere with grooves, the groove shape is the shape of the convex surface of the corner reflector structure, the corner reflector structure is fixedly connected with the floating body, and the sound-transmitting plate is fixedly connected with the floating body to form a sphere; The top of the convex surface of the body structure is fixedly connected to the horizontal connection structure, the horizontal connection structure is connected to the power system, the attitude measurement feedback system is installed above the horizontal connection structure, the upper end of the connecting rope is connected to the corner reflector structure, and the lower end is connected to the circuit system, the power supply system, the releaser and the accessories. Heavy. It solves the technical problem of the existing technology that if a sufficiently large target strength is to be obtained, its volume will become very huge, and it is not feasible to carry out an offshore test, and the present invention has the advantage of small volume.
Description
Technical Field
The invention relates to a suspended underwater acoustic standard body capable of adjusting posture in real time, and belongs to the technical field of acoustic standard bodies.
Background
The strength of the underwater target is measured by a comparison method, a direct method, a transponder method and the like, wherein the comparison method is a commonly used and practical measuring method. The comparison method is to obtain the target intensity of the measured target by measuring the echo intensity of the measured target and a reference target with known target intensity.
When the comparative method is used for measuring the target strength of the underwater target, the manufacture of the reference target is one of key contents, and the reference target is generally required to have the following characteristics: (1) the target strength is high enough to meet the requirement of offshore remote testing; (2) the target strength frequency consistency is good enough, and the requirement of a broadband test is met; (3) the target strength spatial orientation consistency is good enough, and the requirement that the target strength is not changed much when the attitude of the reference target is changed is met; (4) the volume is small enough to meet the feasibility of hoisting and implementation in offshore testing.
The common reference target is a metal ball or a dielectric ball, the spherical reference target has good target intensity spatial orientation consistency, but is only suitable for high-frequency test conditions, and with the reduction of the acoustic frequency, if a sufficiently large target intensity is obtained, the volume of the spherical reference target becomes very large, and the feasibility of offshore test implementation is not realized.
Disclosure of Invention
The invention provides a suspended underwater acoustic standard body for adjusting the posture in real time, aiming at solving the technical problems that although a spherical reference target in the prior art mentioned in the background technology has good target intensity spatial orientation consistency, the spherical reference target is only suitable for high-frequency test conditions, and along with the reduction of the acoustic frequency, if enough target intensity is obtained, the volume of the spherical reference target becomes huge and the feasibility of offshore test implementation is not available.
The invention provides a suspended underwater acoustic standard body capable of adjusting posture in real time, which comprises a sound transmission plate, an angle reflector structure, a floating body, a horizontal connection structure, a power system, a posture measurement feedback system, a connection rope, a circuit system, a power supply system, a releaser and a balance weight, wherein the sound transmission plate is a hemispherical shell, the concave surface of the spherical shell of the sound transmission plate is opposite to the concave surface of the angle reflector structure, a plurality of water transmission holes are formed in the sound transmission plate, the floating body is a hemispherical body with a groove, the shape of the groove is the shape of the convex surface of the angle reflector structure, the angle reflector structure is fixedly connected with the floating body, and the sound transmission plate and the floating body are fixedly connected to form a sphere;
the device comprises a horizontal connecting structure fixedly connected with the top end of a convex surface of a corner reflector structure, the horizontal connecting structure is connected with a power system, an attitude measurement feedback system is installed above the horizontal connecting structure, the upper end of a connecting rope is connected with the corner reflector structure, the lower end of the connecting rope is sequentially connected with a circuit system, a power supply system, a releaser and a counterweight, the circuit system receives real-time attitude measurement data of the attitude measurement feedback system and outputs a control signal to the power system.
Preferably, the power system comprises two propellers which are horizontally arranged and vertically arranged and respectively provide power for two degrees of freedom, namely horizontal and vertical.
Preferably, the attitude measurement feedback system comprises an electronic compass and an electronic level to provide real-time attitude measurement data of the corner reflector structure to the circuitry.
Preferably, the power supply system provides electric energy input for the circuit system and the power system respectively.
Preferably, the connecting rope is a kevlar rope.
Preferably, the releaser provides a recovery function after the underwater work of the whole device is finished.
Preferably, during recovery, the releaser is disconnected from the counterweight, and the underwater acoustic standard body floats out of the water surface for recovery.
Preferably, the counterweight is a cement block or a metal block.
Preferably, the weight has a weight force greater than the buoyancy of the overall structure above it.
The suspension type underwater acoustic standard body capable of adjusting the posture in real time has the beneficial effects that:
1. the invention adopts the angle reflector, has the characteristics of small volume, large target intensity and better consistency of the target intensity in a certain space angle range, is used as a suspended underwater acoustic standard body for adjusting the posture in real time, and has the advantage of small volume compared with standard bodies such as metal balls or medium balls and the like with the same target intensity when being used as a reference target for measuring the underwater target intensity. For example, at a frequency of 5kHz, the target intensity of the circular reflector using the square sides 1m of the present invention is about 10dB, while the diameter of the metal ball of the prior art required to achieve the ideal rigid boundary condition of the same target intensity is 5m, so that the volume of the present invention is much smaller than that of the metal ball of the prior art under the ideal rigid boundary condition of achieving the same target intensity.
2. The invention can realize the function of automatically adjusting the attitude and the direction in non-static water by presetting the attitude information of the angle reflector, and has the advantage of convenient use.
3. According to the invention, the standard body main structure is suspended in the reclaimed water through the balance weight and the connecting rope, and the balance weight is submerged at the water bottom, so that the position of the standard body main structure suspended in the water is stable, and compared with a method for suspending the standard body in the water on a surface ship, the position of the surface ship does not need to be accurately controlled, the measurement operation complexity is reduced, and the measurement efficiency is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.
In the drawings:
FIG. 1 is a schematic structural diagram of a suspended underwater acoustic standard body for adjusting posture in real time according to the present invention;
FIG. 2 is a block diagram of a control system for controlling the attitude and orientation of a corner reflector structure of the present invention;
the device comprises a sound transmission plate 1, a 2-angle reflector structure, a 3-floating body, a 4-horizontal connecting structure, a 5-power system, a 6-attitude measurement feedback system, a 7-connecting rope, an 8-circuit system, a 9-power supply system, a 10-releaser, a 11-counterweight and a 12-water permeable hole.
Detailed Description
The following detailed description of embodiments of the invention is provided in conjunction with the appended drawings:
the first embodiment is as follows: the present embodiment is explained with reference to fig. 1-2. The suspended underwater acoustic standard body capable of adjusting the posture in real time comprises a sound transmission plate 1, an angle reflector structure 2, a floating body 3, a horizontal connection structure 4, a power system 5, a posture measurement feedback system 6, a connection rope 7, a circuit system 8, a power supply system 9, a releaser 10 and a counterweight 11, wherein the sound transmission plate 1 is a hemispherical shell, the concave surface of the spherical shell of the sound transmission plate is opposite to the concave surface of the angle reflector structure 2, a plurality of water transmission holes 12 are formed in the sound transmission plate 1, the floating body 3 is a hemispherical body with a groove, the shape of the groove is the shape of the convex surface of the angle reflector structure 2, the angle reflector structure 2 is fixedly connected with the floating body 3, and the sound transmission plate 1 and the floating body 3 are fixedly connected to form a sphere;
at 2 convex surface top end fixed connection horizontal connection structure 4 of angle reflector structure, horizontal connection structure 4 connects driving system 5, horizontal connection structure 4 top installation gesture measurement feedback system 6, connect 7 upper ends of rope and connect angle reflector structure 2, the lower extreme connects gradually circuit system 8, power supply system 9, releaser 10 and counter weight 11, circuit system 8 receives the real-time gesture measurement data of gesture measurement feedback system 6, outputs the control signal to driving system 5.
The power system 5 comprises two propellers which are horizontally arranged and vertically arranged and respectively provide power for two degrees of freedom, namely horizontal and vertical.
The attitude measurement feedback system 6 includes an electronic compass and an electronic level to provide real-time attitude measurement data of the corner reflector structure 2 to the circuitry 8.
The power supply system 9 provides electric energy input for the circuit system 8 and the power system 5 respectively.
The connecting rope 7 is a Kevlar rope or other soft rope with enough strength, and the length can be adjusted randomly according to the requirement.
The counterweight 11 is a cement block or other metal block, and is disposable. The weight 11 has a greater weight than the buoyancy of the overall structure above it.
The angle reflector structure 2 is a main body structure of an underwater acoustic standard body, has the characteristics of small volume, large target strength and good consistency of the target strength in a certain space angle range, and is formed into a spherical structure through the sound transmission plate 1 and the floating body 3. The sound waves are incident from the direction faced by the corner reflector structure 2, pass through the sound transmission plate 1, are reflected by the corner reflector structure 2, and then return in the original path through the sound transmission plate 1. The spherical structure formed by the sound-transmitting plate 1 and the floating body 3 can avoid the rotation of the standard body after the water flow impacts.
The horizontal connecting structure 4, the power system 5, the attitude measurement feedback system 6, the connecting rope 7, the circuit system 8 and the power supply system 9 are auxiliary structures for controlling the attitude and the orientation of the corner reflector structure 2. The releaser 10 provides the function of recovering the whole device after underwater work is finished.
Fig. 2 shows a block diagram of a system for controlling the attitude and orientation of the corner reflector structure 2. Before the underwater acoustic standard body enters water, attitude and azimuth parameters are set to the attitude measurement feedback system 6, after the underwater acoustic standard body enters water, an electronic level meter and an electronic compass in the attitude measurement feedback system 6 perform real-time measurement, two paths of control signals of the attitude and the azimuth are obtained through comparison with the set parameters, the control signals are input into the circuit system 8, and the circuit system 8 provides power input for two propellers in the power system 5 according to the two paths of control signals.
In operation, the underwater acoustic standard is placed in water, water flows into the space between the sound-transmitting plate 1 and the corner reflector structure 2 through the water-permeable holes 12 in the sound-transmitting plate 1, and the underwater acoustic standard is further placed in an underwater suspension state to work after the water is filled. During recovery, the releaser 10 is disconnected from the counterweight 11, and the underwater acoustic standard body floats out of the water surface for recovery.
The above-mentioned embodiments further explain the objects, technical solutions and advantages of the present invention in detail. It should be understood that the above-mentioned embodiments are only examples of the present invention, and are not intended to limit the present invention, and that the reasonable combination of the features described in the above-mentioned embodiments can be made, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A suspended underwater acoustic standard body capable of adjusting posture in real time is characterized by comprising a sound transmission plate (1), an angle reflector structure (2), a floating body (3), a horizontal connecting structure (4), a power system (5), a posture measurement feedback system (6), a connecting rope (7), a circuit system (8), a power supply system (9), a releaser (10) and a counterweight (11), wherein the sound transmission plate (1) is a hemispherical shell, the concave surface of the spherical shell is opposite to the concave surface of the angle reflector structure (2), a plurality of water permeable holes (12) are arranged on the sound permeable plate (1), the floating body (3) is a hemispheroid with a groove, the shape of the groove is the shape of a convex surface of the angle reflector structure (2), the angle reflector structure (2) is fixedly connected with the floating body (3), the sound-transmitting plate (1) is fixedly connected with the floating body (3) to form a sphere;
at angle reflector structure (2) convex surface top department fixed connection horizontal connection structure (4), driving system (5) is connected in horizontal connection structure (4), feedback system (6) is measured to horizontal connection structure (4) top installation gesture, connect angle reflector structure (2) of connecting rope (7) upper end, circuit system (8), power supply system (9), releaser (10) and counter weight (11) are connected gradually to the lower extreme, real-time gesture measured data of feedback system (6) is measured in gesture is received in circuit system (8), the control signal to driving system (5) is exported.
2. The suspended underwater acoustic standard body with real-time attitude adjustment according to claim 1, wherein the power system (5) comprises two propellers which are horizontally and vertically arranged and respectively provide power for two degrees of freedom, namely horizontal and vertical.
3. The suspended underwater acoustic standard body for real-time pose adjustment according to claim 1, wherein said pose measurement feedback system (6) comprises an electronic compass and an electronic level to provide real-time pose measurement data of the corner reflector structure (2) to the circuitry (8).
4. The suspended underwater acoustic standard body capable of adjusting the attitude in real time according to claim 1, wherein the power supply system (9) provides electric energy input for the circuit system (8) and the power system (5), respectively.
5. The suspended underwater acoustic standard body with real-time attitude adjustment function according to claim 1, wherein the releaser (10) provides a recovery function after the whole device is completely underwater.
6. The suspended underwater acoustic standard body capable of adjusting the attitude in real time according to claim 5, wherein during recovery, the releaser (10) is disconnected from the counterweight (11), and the underwater acoustic standard body floats out of the water surface for recovery.
7. The suspended underwater acoustic standard body capable of adjusting the attitude in real time according to claim 1, wherein the connecting rope (7) is a Kevlar rope.
8. The suspended underwater acoustic standard body for real-time pose adjustment according to claim 1, wherein the counterweight (11) is a cement block or a metal block.
9. The suspended underwater acoustic standard body for real-time pose adjustment according to claim 1, wherein the weight force of the counterweight (11) is greater than the buoyancy force of the overall structure above it.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114594460A (en) * | 2021-12-08 | 2022-06-07 | 上海交通大学 | An underwater self-weighted double-layer thin spherical shell acoustic standard scatterer |
| CN118938180A (en) * | 2024-07-24 | 2024-11-12 | 上海交通大学 | Underwater depth-fixing suspension device based on acoustic target intensity enhancement of folded inflatable corner reflector |
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| CN114594460A (en) * | 2021-12-08 | 2022-06-07 | 上海交通大学 | An underwater self-weighted double-layer thin spherical shell acoustic standard scatterer |
| CN118938180A (en) * | 2024-07-24 | 2024-11-12 | 上海交通大学 | Underwater depth-fixing suspension device based on acoustic target intensity enhancement of folded inflatable corner reflector |
| CN118938180B (en) * | 2024-07-24 | 2025-03-25 | 上海交通大学 | Underwater depth-fixing suspension device based on acoustic target intensity enhancement of folded inflatable corner reflector |
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| CN113406647B (en) | 2023-03-17 |
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