Underwater ultrasonic transmitting equipment and ultrasonic positioning system

Abstract

The invention provides underwater ultrasonic transmitting equipment and an ultrasonic positioning system, and relates to the technical field of underwater detection. The underwater ultrasonic transmitting equipment comprises a shell, at least one acquisition unit, at least one processing unit and at least one layer of electrostriction transducer, the processing unit is used for coding the parameter information, generating at least one pulse electric signal to be sent, determining the transmitting time interval of two adjacent pulse electric signals in each group, and transmitting each pulse electric signal and the transmitting time interval of two adjacent pulse electric signals in each group to the multilayer electrostriction transducer; and the multi-layer electrostriction transducer is used for converting the pulse electric signals into ultrasonic signals corresponding to the pulse electric signals and transmitting the ultrasonic signals corresponding to the pulse electric signals to the ultrasonic receiving equipment according to the transmitting time interval of every two adjacent pulse electric signals in each group, so that the design requirement of a miniaturized structure is met.

Description

Technical Field

[0001] The present application relates to the field of underwater detection technology, and in particular to underwater ultrasonic transmitting equipment and an ultrasonic positioning system. Background Art

[0002] Generally, the propagation speed of ultrasound in water is much faster than that in air (about 4.3 times that in air), and the attenuation is weaker. In particular, it can penetrate tens of meters in solids and liquids, making it suitable for long-distance detection. Therefore, most underwater biological positioning technologies mainly rely on the transmission and reception of ultrasonic signals to obtain information such as the location and depth of the target organism.

[0003] Currently, existing ultrasonic transmitters are equipped with multiple devices and are relatively large in size, which makes it difficult to adapt to the design requirements of miniaturization of underwater equipment. Summary of the invention

[0004] The purpose of the present invention is to provide an underwater ultrasonic transmitting device and an ultrasonic positioning system to solve the technical problems existing in the prior art in view of the above-mentioned deficiencies in the prior art.

[0005] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides an underwater ultrasonic transmitting device, the underwater ultrasonic transmitting device comprising: a housing and at least one collecting unit, a processing unit and a multi-layer electrostrictive transducer arranged in the housing;

[0007] The output end of each of the acquisition units is connected to the input end of the processing unit, and each of the acquisition units is used to acquire parameter information of the environment in which the object to be measured is currently located, and send the parameter information to the processing unit;

[0008] The output end of the processing unit is connected to the input end of the multilayer electrostrictive transducer, and the processing unit is used to encode the parameter information, generate at least one pulse electrical signal to be sent, and determine the emission time interval of each group of two adjacent pulse electrical signals, and transmit each of the pulse electrical signals and the emission time interval of each group of two adjacent pulse electrical signals to the multilayer electrostrictive transducer, wherein the emission time interval of at least one group of two adjacent pulse electrical signals is respectively used to indicate a type of parameter information of the environment in which the object to be measured is currently located;

[0009] The multilayer electrostrictive transducer is used to convert each of the pulse electrical signals into an ultrasonic signal corresponding to each of the pulse electrical signals, and transmit the ultrasonic signal corresponding to each of the pulse electrical signals to an ultrasonic receiving device according to the transmission time interval of each group of two adjacent pulse electrical signals, so that the ultrasonic receiving device determines the parameter information of the current environment of the object to be measured according to the transmission time interval of at least one group of two adjacent pulse electrical signals.

[0010] Optionally, the processing unit is specifically configured to:

[0011] Determine the coding strategy corresponding to each of the pulse electrical signals according to the device identification of the underwater ultrasonic transmitting device, and generate each of the pulse electrical signals according to the coding strategy corresponding to each of the pulse electrical signals;

[0012] The transmission time interval between each group of two adjacent pulse electrical signals is determined according to the coding rules and the parameter information pre-negotiated with the ultrasonic receiving device.

[0013] Optionally, the parameter information includes: depth information and water temperature information, and the at least one pulse electrical signal to be sent includes: a first pulse electrical signal, a second pulse electrical signal and a third pulse electrical signal;

[0014] The encoding rule includes: the time interval between the first pulse electrical signal and the second pulse electrical signal is used to represent the depth information, and the time interval between the second pulse electrical signal and the third pulse electrical signal is used to represent the water temperature information;

[0015] The step of determining the transmission time interval between two adjacent pulse electrical signals in each group according to the coding rule pre-negotiated with the ultrasonic receiving device and the parameter information comprises:

[0016] Determine, according to the depth information, a transmission time interval of a first group of two adjacent pulse electrical signals, wherein the first group of two adjacent pulse electrical signals includes: the first pulse electrical signal and the second pulse electrical signal;

[0017] The emission time interval of a second group of two adjacent pulse electrical signals is determined according to the water temperature information, and the second group of two adjacent pulse electrical signals includes: the second pulse electrical signal and the third pulse electrical signal.

[0018] Optionally, the acquisition unit includes: a temperature sensor and a depth sensor; the input end of the processing unit is connected to the output end of the temperature sensor and the output end of the depth sensor respectively;

[0019] The temperature sensor is used to collect water temperature information of the environment in which the object to be measured is currently located, and send the water temperature information to the processing unit;

[0020] The depth sensor is used to collect depth information of the environment in which the object to be measured is currently located, and send the depth information to the processing unit.

[0021] Optionally, it further comprises: a magnetic switch unit, one end of which is connected to the output end of the processing unit, and the other end of which is connected to the input end of the multilayer electrostrictive transducer;

[0022] The processing unit is specifically used for:

[0023] According to the transmission time interval of each group of two adjacent pulse electrical signals, the on and off of the magnetic switch unit is controlled, and when the magnetic switch unit is turned on, the next pulse electrical signal in each group of two adjacent pulse electrical signals to be sent is sent to the multilayer electrostrictive transducer.

[0024] Optionally, it further comprises: an amplifying unit, one end of the amplifying unit is connected to the output end of the processing unit, and the other end of the amplifying unit is connected to the input end of the multilayer electrostrictive transducer;

[0025] The amplifying unit is used to amplify each of the pulse electrical signals generated by the processing unit to generate each pulse amplified electrical signal, and transmit each pulse amplified electrical signal to the multilayer electrostrictive transducer.

[0026] Optionally, the amplification unit includes: an amplifier and an inductor;

[0027] One end of the amplifier is connected to the output end of the processing unit, the other end of the amplifier is connected to one end of the inductor, and the other end of the inductor is connected to the input end of the multilayer electrostrictive transducer.

[0028] Optionally, it further includes: a power supply module and a low voltage dropout linear regulator, wherein the output end of the power supply module is connected to the input end of the low voltage dropout linear regulator, and the output end of the low voltage dropout linear regulator is connected to the power supply end of the processing unit;

[0029] The power module is used to transmit the output power signal to the low voltage drop linear regulator;

[0030] The low voltage difference linear regulator is used to perform voltage stabilization processing on the received electric energy signal and transmit the generated stabilization signal to the processing unit to provide electric energy to the processing unit.

[0031] Optionally, the shell is a cylinder, the diameter of the cross section of the shell is 9.5 mm, and the length of the shell is 43 mm.

[0032] In a second aspect, an embodiment of the present application further provides an ultrasonic positioning system, comprising: an ultrasonic receiving device and the underwater ultrasonic transmitting device provided in the first aspect above;

[0033] The underwater ultrasonic transmitting device is embedded in the body of the object to be tested;

[0034] The ultrasonic receiving device is used to receive ultrasonic signals corresponding to each pulse signal emitted by the underwater ultrasonic transmitting device, and determine parameter information of the environment in which the object to be measured is currently located based on the ultrasonic signals corresponding to each pulse signal.

[0035] The beneficial effects of this application are:

[0036] The present application provides an underwater ultrasonic transmitting device and an ultrasonic positioning system. The underwater ultrasonic transmitting device comprises: a shell and at least one collecting unit, a processing unit and a multi-layer electrostrictive transducer arranged in the shell; the output end of each collecting unit is connected to the input end of the processing unit, each collecting unit is used to collect parameter information of the current environment of the object to be measured, and send the parameter information to the processing unit; the output end of the processing unit is connected to the input end of the multi-layer electrostrictive transducer, and the processing unit is used to encode the parameter information, generate at least one pulse electric signal to be sent, and determine the emission time interval of each group of two adjacent pulse electric signals, and send each pulse electric signal to the processing unit; The multilayer electrostrictive transducer is used to convert each pulse electric signal into an ultrasonic signal corresponding to each pulse electric signal, and transmit the ultrasonic signal corresponding to each pulse electric signal to an ultrasonic receiving device according to the transmission time interval of each group of two adjacent pulse electric signals, so that the ultrasonic receiving device determines the parameter information of the current environment of the object to be measured according to the transmission time interval of at least one group of two adjacent pulse electric signals. In the underwater ultrasonic transmitting device provided by the present application, in order to achieve the design requirements of the miniaturized structure, it is proposed that the vibrator in the underwater ultrasonic transmitting device can adopt a multilayer electrostrictive transducer. Compared with the traditional PZT piezoelectric ceramic vibrator, the multilayer electrostrictive transducer adopted in the present application has higher electroacoustic conversion efficiency, more efficient signal energy conversion, and is suitable for longer underwater signal propagation distances. In this way, the ultrasonic transmitting device does not need to be provided with too many components to achieve the same conversion efficiency, further improving the miniaturization of the underwater ultrasonic transmitting device; at the same time, the processing unit in the underwater ultrasonic transmitting device generates at least one pulse electrical signal to be sent according to the parameter information collected by each acquisition unit, and determines the emission time interval of each group of two adjacent pulse electrical signals, and the emission time interval of each group of two adjacent pulse electrical signals carries a type of parameter information of the environment in which the object to be measured is located, so that it is no longer necessary to send the parameter information of the environment in which the object to be measured is located to the ultrasonic receiving device separately, that is, while realizing the monitoring of the object to be measured, the miniaturized design of the underwater ultrasonic transmitting device is further improved, solving the problem that the underwater ultrasonic transmitting device provided in the prior art is difficult to adapt to the design requirements of the miniaturization of underwater equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 A schematic diagram of the structure of an underwater ultrasonic transmitting device provided in an embodiment of the present application;

[0039] Figure 2 A schematic diagram of the emission time interval between two adjacent pulse electrical signals in each group provided in an embodiment of the present application;

[0040] Figure 3 A schematic diagram of the structure of another underwater ultrasonic transmitting device provided in an embodiment of the present application;

[0041] Figure 4 A schematic diagram of the structure of another underwater ultrasonic transmitting device provided in an embodiment of the present application;

[0042] Figure 5 A schematic diagram of the structure of another underwater ultrasonic transmitting device provided in an embodiment of the present application;

[0043] Figure 6 A schematic diagram of the structure of another underwater ultrasonic transmitting device provided in an embodiment of the present application;

[0044] Figure 7 A schematic diagram of the structure of another underwater ultrasonic transmitting device provided in an embodiment of the present application;

[0045] Figure 8 A schematic diagram of the structure of an ultrasonic positioning system provided in an embodiment of the present application.

[0046] Icon: 100- underwater ultrasonic transmitting equipment; 1- shell; 2- acquisition unit; 3- processing unit; 4- multilayer electrostrictive transducer; 21- temperature sensor; 22- depth sensor; 5- magnetic switch unit; 6- amplification unit; 7- power module; 8- low voltage difference linear regulator; 9- ultrasonic receiving equipment; 200- ultrasonic positioning system. DETAILED DESCRIPTION

[0047] The technical solution of the specific implementation method is described below in conjunction with the accompanying drawings.

[0048] It should be noted that: although this specification has described the present invention in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that technicians in the relevant technical field can still modify, combine or replace the present invention with equivalents, and all technical solutions and improvements thereto that do not depart from the spirit and scope of the present invention should be covered within the scope of the claims of the present invention.

[0049] The structure of the underwater ultrasonic transmitting equipment provided by the present application will be introduced in detail through the following embodiments.

[0050] Optionally, refer to Figure 1 As shown, the underwater ultrasonic transmitting device 100 includes: a housing 1, at least one collecting unit 2 (such as collecting unit I, ..., collecting unit N), a processing unit 3 and a multilayer electrostrictive transducer 4. The structure of the underwater ultrasonic transmitting device provided by the present application is more miniaturized, suitable for being embedded in or close to the fish body, so as to achieve efficient detection of the object to be detected.

[0051] Exemplarily, the shell 1 can be made of plastic with better sound permeability, such as polycarbonate or acrylic, to ensure efficient penetration of ultrasound; at the same time, the shell 1 also has functions such as waterproofing and heat dissipation to ensure that the circuit devices arranged in the shell 1 can work normally.

[0052] Each acquisition unit 2 is mainly used to detect parameter information of the environment in which the object to be measured is located, such as water temperature information, depth information, position information, etc.

[0053] The processing unit 3 may be a small processor with data processing function to encode the parameter information detected by the acquisition unit 2 .

[0054] The multilayer electrostrictive transducer 4 is a vibrator in the underwater ultrasonic transmitting device 100 , and is mainly used to convert the pulse electrical signal output by the processing unit 3 into an ultrasonic signal, and transmit the ultrasonic signal to the ultrasonic receiving device 9 to detect the object to be detected.

[0055] Continue to refer Figure 1 As shown, the output end of each acquisition unit 2 is connected to the input end of the processing unit 3, and each acquisition unit 2 is used to acquire parameter information of the current environment of the object to be measured and send the parameter information to the processing unit 3; in this embodiment, the acquisition unit 2 set in the underwater ultrasonic transmitting equipment 100 can monitor the parameter information of the environment of the object to be measured in real time or periodically, such as water temperature and pressure.

[0056] The output end of the processing unit 3 is connected to the input end of the multilayer electrostrictive transducer 4. The processing unit 3 is used to encode the parameter information, generate at least one pulse electrical signal to be sent, and determine the emission time interval of each group of two adjacent pulse electrical signals, and transmit each pulse electrical signal and the emission time interval of each group of two adjacent pulse electrical signals to the multilayer electrostrictive transducer 4, wherein the emission time interval of at least one group of two adjacent pulse electrical signals is used to indicate a type of parameter information of the current environment of the object to be measured; in this embodiment, the processing unit 3 encodes the parameter information collected by each acquisition unit 2 to generate three pulse electrical signals to be sent, such as the first pulse electrical signal P1, the second pulse electrical signal P2, and the third pulse electrical signal P3; and simultaneously determines the emission time interval of each group of two adjacent pulse electrical signals. Among them, the first pulse electrical signal P1 and the second pulse electrical signal P2 can be called a group of two adjacent pulse electrical signals, and the second pulse electrical signal P2 and the third pulse electrical signal P3 can be called another group of two adjacent pulse electrical signals, that is, the emission time of each pulse electrical signal can be determined in sequence to ensure the emission efficiency of the pulse electrical signal.

[0057] The multilayer electrostrictive transducer 4 is used to convert each pulse electrical signal into an ultrasonic signal corresponding to each pulse electrical signal, and transmit the ultrasonic signal corresponding to each pulse electrical signal to the ultrasonic receiving device 9 according to the transmission time interval of each group of two adjacent pulse electrical signals, so that the ultrasonic receiving device 9 determines the parameter information of the current environment of the object to be measured according to the transmission time interval of at least one group of two adjacent pulse electrical signals.

[0058] Optionally, in order to improve the miniaturization of the structure of the underwater ultrasonic transmitting device 100 underwater, the present application proposes that a new multilayer electrostrictive transducer 4 can be used as a vibrator in the underwater ultrasonic transmitting device 100. Compared with the traditional PZT piezoelectric ceramic vibrator, the multilayer electrostrictive transducer 4 used in the present application has a higher electroacoustic conversion efficiency, a more efficient signal energy conversion, and is suitable for a longer underwater signal propagation distance. In this way, the underwater ultrasonic transmitting device does not need to be equipped with too many components to achieve the same conversion efficiency, further improving the miniaturization of the underwater ultrasonic transmitting device.

[0059] In this embodiment, the multilayer electrostrictive transducer 4 converts the first pulse electrical signal P1 into the ultrasonic signal 1 and the second pulse electrical signal P2 into the ultrasonic signal 2, and transmits the ultrasonic signal 1 and the ultrasonic signal 2 to the ultrasonic receiving device 9 in sequence according to the transmission time interval of the first pulse electrical signal P1 and the second pulse electrical signal P2, so that the ultrasonic receiving device 9 determines the parameter information of the current environment of the object to be measured according to the first pulse electrical signal P1 and the second pulse electrical signal P2, realizes continuous and real-time monitoring of the object to be measured, and ensures the accuracy of the detection results, thereby providing a scientific basis for fishery management; at the same time, it meets the miniaturization design of the underwater ultrasonic transmitting equipment, and solves the problem that the existing underwater ultrasonic transmitting equipment is difficult to adapt to the compact requirements of underwater equipment.

[0060] In summary, the embodiment of the present application provides an underwater ultrasonic transmitting device, which includes: a housing and at least one collecting unit, a processing unit and a multilayer electrostrictive transducer arranged in the housing; the output end of each collecting unit is connected to the input end of the processing unit, each collecting unit is used to collect parameter information of the current environment of the object to be measured, and send the parameter information to the processing unit; the output end of the processing unit is connected to the input end of the multilayer electrostrictive transducer, the processing unit is used to encode the parameter information, generate at least one pulse electrical signal to be sent, and determine the emission time interval of each group of two adjacent pulse electrical signals, and send each pulse electrical signal to the processing unit. The multilayer electrostrictive transducer is used to convert each pulse electric signal into an ultrasonic signal corresponding to each pulse electric signal, and transmit the ultrasonic signal corresponding to each pulse electric signal to an ultrasonic receiving device according to the transmission time interval of each group of two adjacent pulse electric signals, so that the ultrasonic receiving device determines the parameter information of the current environment of the object to be measured according to the transmission time interval of at least one group of two adjacent pulse electric signals. In the underwater ultrasonic transmitting device provided by the present application, in order to achieve the design requirements of the miniaturized structure, it is proposed that the vibrator in the underwater ultrasonic transmitting device can adopt a multilayer electrostrictive transducer. Compared with the traditional PZT piezoelectric ceramic vibrator, the multilayer electrostrictive transducer adopted in the present application has higher electroacoustic conversion efficiency, more efficient signal energy conversion, and is suitable for longer underwater signal propagation distances. In this way, the underwater ultrasonic transmitting device does not need to be equipped with too many components to achieve the same conversion efficiency, further improving the miniaturization of the underwater ultrasonic transmitting device; at the same time, the processing unit in the underwater ultrasonic transmitting device generates at least one pulse electrical signal to be sent according to the parameter information collected by each acquisition unit, and determines the emission time interval of each group of two adjacent pulse electrical signals, and the emission time interval of each group of two adjacent pulse electrical signals carries a type of parameter information of the environment in which the object to be measured is located, so that it is no longer necessary to send the parameter information of the environment in which the object to be measured is located to the ultrasonic receiving device separately, that is, while realizing the monitoring of the object to be measured, the miniaturized design of the underwater ultrasonic transmitting device is further improved, solving the problem that the underwater ultrasonic transmitting device provided in the prior art is difficult to adapt to the design requirements of the miniaturization of underwater equipment.

[0061] Optionally, the processing unit is specifically configured to:

[0062] Determine the coding strategy corresponding to each pulse electrical signal according to the device identification of the underwater ultrasonic transmitting device, and generate each pulse electrical signal according to the coding strategy corresponding to each pulse electrical signal;

[0063] The transmission time interval between two adjacent pulse electrical signals in each group is determined according to the coding rules and parameter information pre-negotiated with the ultrasonic receiving device.

[0064] It can be understood that when it is necessary to monitor multiple underwater objects at the same time, for example, an underwater ultrasonic transmitting device 100 can be bound to the surface of each object to be tested, or an underwater ultrasonic transmitting device 100 can be embedded in the body of each object to be tested, and the ultrasonic signal emitted by the underwater ultrasonic transmitting device 100 associated with each object to be tested can be used to detect each object to be tested.

[0065] In order to effectively identify which underwater ultrasonic transmitting device the ultrasonic signal received by the ultrasonic receiving device comes from, when the underwater ultrasonic transmitting device transmits ultrasonic information, the encoding strategy corresponding to the multiple pulse electrical signals to be transmitted by the underwater ultrasonic transmitting device (such as the first pulse electrical signal P1, the second pulse electrical signal P2, and the third pulse electrical signal P3) can be determined based on the device identification of each underwater ultrasonic transmitting device. That is, the same ultrasonic receiving device can support the simultaneous identification of different numbers of underwater ultrasonic transmitters.

[0066] For example, due to the limitation of hardware performance, this system adopts a maximum of 32 pulse coding schemes, that is, each pulse electrical signal has 32 coding possibilities. Therefore, according to the principle of permutation and combination, the theoretical maximum number of identifiable 3 = 32768 underwater ultrasonic transmitting devices 100. In addition, the coding strategy of each underwater ultrasonic transmitting device 100 can be flexibly set within a range of 2 to 4, and the maximum number of identifications determined thereby follows an exponential growth law: when n = 2, the maximum number of identifications is 32 2 =1024; when n=3, it is 32768; when n=4, the maximum number of recognition is 32 4 =1073741824. This design not only improves the flexibility of the system, but also ensures efficient operation in different application scenarios. Moreover, this encoding method is suitable for monitoring a variety of fish and their groups, especially for small, medium and large fish.

[0067] In one achievable manner, for example, each pulse electrical signal has 8 coding possibilities, and the device identification of the underwater ultrasonic transmitting device 100 is ID1, then according to the device identification ID1 of the underwater ultrasonic transmitting device 100, it can be determined that the coding strategy corresponding to the first pulse electrical signal is 0001, the coding strategy corresponding to the second pulse electrical signal is 0010, and the coding strategy corresponding to the third pulse electrical signal is 0100. Therefore, each pulse electrical signal can be generated in sequence according to the coding strategy corresponding to each pulse electrical signal.

[0068] At the same time, in order to determine the emission time of each pulse electrical signal, the emission time interval of each group of two adjacent pulse electrical signals can also be determined according to the coding rules and parameter information pre-negotiated with the ultrasonic receiving device. For example, the coding rules pre-negotiated with the ultrasonic receiving device include: the emission time interval of the first group of two adjacent pulse electrical signals is used to characterize the depth information of the environment in which the object to be measured is located, that is, the emission time interval of each group of two adjacent pulse electrical signals can carry the parameter information of the environment in which the object to be measured is located, so that the parameter information of the environment in which the object to be measured is no longer required to be separately transmitted to the ultrasonic receiving device, thereby improving the transmission efficiency and recognition rate of the ultrasonic signal.

[0069] Optionally, the parameter information includes: depth information and water temperature information, and the parameter information may also include: pressure information, position information, etc.

[0070] At least one pulse electric signal to be sent includes: a first pulse electric signal P1, a second pulse electric signal P2 and a third pulse electric signal P3, that is, in order to improve the transmission efficiency of the ultrasonic signal, when the monitored parameter information includes: two different types, the pulse electric signals to be sent include at least 3; or, when the monitored parameter information includes: three different types, the pulse electric signals to be sent include at least 4. Among them, two adjacent pulse electric signals are a group of pulse electric signals, that is, the first group of pulse electric signals is: the first pulse electric signal P1, the second pulse electric signal P2, that is, the first group of pulse electric signals is: the second pulse electric signal P2, the third pulse electric signal P3.

[0071] The coding rules include: the time interval between the first pulse electrical signal and the second pulse electrical signal is used to characterize the depth information, and the time interval between the second pulse electrical signal and the third pulse electrical signal is used to characterize the water temperature information.

[0072] According to the coding rules and parameter information pre-negotiated with the ultrasonic receiving device, the transmission time interval between two adjacent pulse electrical signals in each group is determined, including:

[0073] Determine, according to the depth information, a time interval between the emission of two adjacent pulse electrical signals of a first group, wherein the first group of two adjacent pulse electrical signals includes: a first pulse electrical signal and a second pulse electrical signal;

[0074] According to the water temperature information, the emission time interval of the second group of two adjacent pulse electrical signals is determined, and the second group of two adjacent pulse electrical signals includes: a second pulse electrical signal and a third pulse electrical signal.

[0075] Optionally, when the underwater ultrasonic transmitting device transmits multiple ultrasonic signals at the same time, the transmission time interval of each group of two adjacent pulse electrical signals can be determined according to the parameter information of the object to be measured, so that the ultrasonic receiving device can decode the parameter information of the object to be measured based on the received transmission time interval of each group of two adjacent pulse electrical signals. In this way, efficient and accurate data transmission and identification can be achieved.

[0076] In one achievable manner, reference Figure 2 As shown, the emission time interval Td of the first group of two adjacent pulse electrical signals can be determined according to the depth information Depth, and the first group of two adjacent pulse electrical signals includes: a first pulse electrical signal and a second pulse electrical signal; and, according to the water temperature information Temp, the emission time interval Tt of the second group of two adjacent pulse electrical signals can be determined, and the second group of two adjacent pulse electrical signals includes: a second pulse electrical signal and a third pulse electrical signal.

[0077] Optionally, in different transmission cycles, the correlation between the third pulse electrical signals of different transmission cycles should be as low as possible to reduce interference in a multi-user environment; at the same time, the third pulse electrical signal also has a high autocorrelation, that is, the autocorrelation of a single third pulse electrical signal under different time delays should be as high as possible, which is helpful for signal synchronization and tracking; secondly, the third pulse electrical signal also has a long periodicity, that is, the period of the third pulse electrical signal should be long enough to support long communication sessions without repetition.

[0078] Optionally, refer to Figure 3 As shown above Figure 1 The acquisition unit 2 includes: a temperature sensor 21 and a depth sensor 22; optionally, it may also include: a pressure sensor.

[0079] The input end of the processing unit 3 is connected to the output end of the temperature sensor 21 and the output end of the depth sensor 22 respectively;

[0080] The temperature sensor 21 is used to collect the water temperature information of the environment in which the object to be measured is currently located, and send the water temperature information to the processing unit 3;

[0081] The depth sensor 22 is used to collect depth information of the environment in which the object to be measured is currently located, and send the depth information to the processing unit 3.

[0082] In this embodiment, the water temperature of the environment in which the object to be measured is located can be monitored in real time by the temperature sensor 21 provided in the underwater ultrasonic transmitting device 100, and the depth of the environment in which the object to be measured is located can be monitored in real time by the depth sensor 22 provided in the underwater ultrasonic transmitting device 100, thereby achieving accurate detection and measurement of the underwater object to be measured.

[0083] Optionally, refer to Figure 4 As shown in the above Figure 3 On the basis of, the underwater ultrasonic transmitting device 100 also includes: a magnetic switch unit 5, the main function of the magnetic switch unit 5 is to control the on and off state of the multilayer electrostrictive transducer 4 according to the on and off instructions issued by the processing unit 3, that is, the magnetic switch unit 5 controls when the multilayer electrostrictive transducer 4 starts (or stops) transmitting ultrasonic signals.

[0084] One end of the magnetic switch unit 5 is connected to the output end of the processing unit 3, and the other end of the magnetic switch unit 5 is connected to the input end of the multilayer electrostrictive transducer 4;

[0085] The processing unit 3 is specifically used for:

[0086] According to the transmission time interval of each group of two adjacent pulse electrical signals, the on and off of the magnetic switch unit 5 is controlled, and when the magnetic switch unit 5 is turned on, the next pulse electrical signal in each group of two adjacent pulse electrical signals to be sent is sent to the multilayer electrostrictive transducer 4.

[0087] In this embodiment, after the multilayer electrostrictive transducer 4 transmits the first pulse electrical signal P1, the processing unit 3 sends a shutdown signal to the magnetic switch unit 5 to control the magnetic switch unit 5 to be in an off state. At this time, the multilayer electrostrictive transducer 4 stops transmitting the ultrasonic signal. When the processing unit 3 determines that the stop transmission time is the transmission interval Td between the first pulse electrical signal P1 and the second pulse electrical signal P2, the processing unit 3 sends a conduction signal to the magnetic switch unit 5 to control the magnetic switch unit 5 to be in an on state. When the magnetic switch unit 5 is turned on, the second pulse electrical signal P2 to be transmitted is sent to the multilayer electrostrictive transducer 4. The multilayer electrostrictive transducer 4 converts the second pulse electrical signal P2 into an ultrasonic signal 2, and transmits the ultrasonic signal 2 to the ultrasonic receiving device 9, so that the ultrasonic receiving device 9 calculates the depth information of the object to be measured according to the receiving time interval between the received ultrasonic signal 1 and the received ultrasonic signal 2.

[0088] Optionally, the emission period of the underwater ultrasonic transmitting device 100 may also be set, such as the emission period is generally 1s, 10s, 20s, 240s, etc.

[0089] Optionally, refer to Figure 5 As shown in the above Figure 4 On the basis of, the underwater ultrasonic transmitting device 100 further includes: an amplifying unit 6, one end of the amplifying unit 6 is connected to the output end of the processing unit 3, and the other end of the amplifying unit 6 is connected to the input end of the multilayer electrostrictive transducer 4;

[0090] The amplifying unit 6 is used to amplify each pulse electrical signal generated by the processing unit 3 to generate each pulse amplified electrical signal, and transmit each pulse amplified electrical signal to the multilayer electrostrictive transducer 4 .

[0091] Optionally, in this embodiment, in order to improve the quality and stability of the signal transmission process, it is proposed that an amplification unit 6 can also be set in the underwater ultrasonic transmitting device 100, wherein the amplification unit 6 can amplify the multiple pulse electrical signals generated by the processing unit 3, such as power amplification.

[0092] Optionally, the multiple pulse electrical signals generated by the processing unit 3 may be subjected to phase modulation (PM) and amplitude modulation (AM), wherein phase modulation ensures the spatial concentration of the signal, while amplitude modulation enhances the anti-interference capability of the signal.

[0093] Optionally, refer to Figure 6 As shown, the amplifying unit 6 includes: an amplifier A1 and an inductor L;

[0094] One end of the amplifier A1 is connected to the output end of the processing unit 3 , the other end of the amplifier A1 is connected to one end of the inductor L, and the other end of the inductor L is connected to the input end of the multilayer electrostrictive transducer 4 .

[0095] In this embodiment, the amplifier A1 and the inductor L can be used to amplify the plurality of pulse electrical signals and generate amplified pulse electrical signals.

[0096] Optionally, refer to Figure 7 As shown in the above Figure 6 On the basis of, the underwater ultrasonic transmitting device 100 also includes: a power supply module 7 and a low-voltage difference linear regulator 8, the output end of the power supply module 7 is connected to the input end of the low-voltage difference linear regulator 8, and the output end of the low-voltage difference linear regulator 8 is connected to the power supply end of the processing unit 3;

[0097] A power module 7, used for transmitting the output power signal to a low voltage drop linear regulator 8;

[0098] The low voltage drop linear regulator 8 is used to perform voltage stabilization processing on the received electric energy signal and transmit the generated regulated voltage signal to the processing unit 3 to provide electric energy to the processing unit 3.

[0099] Optionally, the operating voltage required by the processing unit 3 is 3.3V, and the voltage signal output by the voltage module can be converted into a stable 3.3V voltage signal by a low-voltage difference linear regulator 8, and the 3.3V voltage signal is transmitted to the processing unit 3 by the low-voltage difference linear regulator 8 to provide electrical energy to the processing unit 3, thereby ensuring the normal operation of the underwater ultrasonic transmitting equipment 100.

[0100] Wherein, under the normal power supply condition of the power module 7, the operation time of the underwater ultrasonic transmitting device 100 can reach several years.

[0101] Optionally, the shell 1 is a cylinder, the diameter of the cross section of the shell 1 is 9.5 mm, and the length of the shell 1 is 43 mm, that is, the underwater ultrasonic transmitting equipment provided in the present application is a miniaturized structure, suitable for embedding in or close to the fish body, and adapting to the compact requirements of underwater equipment.

[0102] Optionally, the underwater ultrasonic transmitting device provided in the present application has the following characteristics:

[0103] 1. Miniaturization, high sensitivity, and strong anti-interference ability;

[0104] 2. Strong adaptability, can be used for monitoring a variety of fish and their groups;

[0105] 3. It has long battery life and data storage function, supporting post-analysis and processing functions.

[0106] Optionally, the performance definition of the underwater ultrasonic transmitting device is determined by the following four indicators: miniaturization, battery life, transmission distance and signal recognition capability. Among them, the performance indicators of the underwater ultrasonic transmitting device 100 provided in this application are:

[0107] 1. Miniaturized design: cross-sectional diameter is 9.5mm and length is 43mm;

[0108] 2. Battery life: When powered by a single battery, the operating time can reach several years;

[0109] 3. Transmission distance: By optimizing signal modulation and demodulation technology, a longer underwater signal propagation distance can be achieved;

[0110] 4. Signal recognition capability: Up to 32,768 ultrasonic transmitters can be recognized simultaneously to meet the needs of large-scale biological monitoring.

[0111] Optionally, refer to Figure 8 As shown, the present application also provides an ultrasonic positioning system 200, which includes: an ultrasonic receiving device 9 and an underwater ultrasonic transmitting device 100 provided in the above embodiment, and the underwater ultrasonic transmitting device 100 is embedded in the body of the object to be measured.

[0112] Among them, the ultrasonic receiving device 9 is used to receive the ultrasonic signals corresponding to each pulse signal emitted by the underwater ultrasonic transmitting device 100, and determine the parameter information of the current environment of the object to be measured according to the ultrasonic signals corresponding to each pulse signal, and based on the parameter information of the current environment of the object to be measured, realize the monitoring of the object to be measured (such as the target fish body), and further analyze the activity pattern of the target fish body (such as circadian rhythm, migration route, etc.).

[0113] Optionally, the present invention also provides a program product, such as a computer-readable storage medium, comprising a program, which is used to execute the above method embodiment when executed by a processor.

[0114] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0115] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0116] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0117] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to perform some steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (English: Read-Only Memory, abbreviated: ROM), random access memory (English: Random Access Memory, abbreviated: RAM), disk or optical disk and other media that can store program codes.

Claims

1. An underwater ultrasonic transmitting device, characterized in that: The underwater ultrasonic transmitting device comprises: a housing and at least one collecting unit, a processing unit and a multi-layer electrostrictive transducer arranged in the housing; The output end of each of the acquisition units is connected to the input end of the processing unit, and each of the acquisition units is used to acquire parameter information of the environment in which the object to be measured is currently located, and send the parameter information to the processing unit; The output end of the processing unit is connected to the input end of the multilayer electrostrictive transducer, and the processing unit is used to encode the parameter information, generate at least one pulse electrical signal to be sent, and determine the emission time interval of each group of two adjacent pulse electrical signals, and transmit each of the pulse electrical signals and the emission time interval of each group of two adjacent pulse electrical signals to the multilayer electrostrictive transducer, wherein the emission time interval of at least one group of two adjacent pulse electrical signals is respectively used to indicate a type of parameter information of the environment in which the object to be measured is currently located; The multilayer electrostrictive transducer is used to convert each pulse electrical signal into an ultrasonic signal corresponding to each pulse electrical signal, and transmit the ultrasonic signal corresponding to each pulse electrical signal to an ultrasonic receiving device according to the transmission time interval of each group of two adjacent pulse electrical signals, so that the ultrasonic receiving device determines the parameter information of the current environment of the object to be measured according to the transmission time interval of at least one group of two adjacent pulse electrical signals.

2. The underwater ultrasonic transmitting device according to claim 1, characterized in that: The processing unit is specifically used for: Determine the coding strategy corresponding to each of the pulse electrical signals according to the device identification of the underwater ultrasonic transmitting device, and generate each of the pulse electrical signals according to the coding strategy corresponding to each of the pulse electrical signals; The transmission time interval between each group of two adjacent pulse electrical signals is determined according to the coding rules and the parameter information pre-negotiated with the ultrasonic receiving device.

3. The underwater ultrasonic transmitting device according to claim 2, characterized in that: The parameter information includes: depth information and water temperature information, and the at least one pulse electrical signal to be sent includes: a first pulse electrical signal, a second pulse electrical signal and a third pulse electrical signal; The encoding rule includes: the time interval between the first pulse electrical signal and the second pulse electrical signal is used to represent the depth information, and the time interval between the second pulse electrical signal and the third pulse electrical signal is used to represent the water temperature information; The step of determining the transmission time interval between two adjacent pulse electrical signals in each group according to the coding rule pre-negotiated with the ultrasonic receiving device and the parameter information comprises: Determine, according to the depth information, a transmission time interval of a first group of two adjacent pulse electrical signals, wherein the first group of two adjacent pulse electrical signals includes: the first pulse electrical signal and the second pulse electrical signal; The emission time interval of a second group of two adjacent pulse electrical signals is determined according to the water temperature information, and the second group of two adjacent pulse electrical signals includes: the second pulse electrical signal and the third pulse electrical signal.

4. The underwater ultrasonic transmitting device according to claim 1, characterized in that: The acquisition unit includes: a temperature sensor and a depth sensor; the input end of the processing unit is connected to the output end of the temperature sensor and the output end of the depth sensor respectively; The temperature sensor is used to collect water temperature information of the environment in which the object to be measured is currently located, and send the water temperature information to the processing unit; The depth sensor is used to collect depth information of the environment in which the object to be measured is currently located, and send the depth information to the processing unit.

5. The underwater ultrasonic transmitting device according to claim 4, characterized in that: Also includes: a magnetic switch unit, one end of which is connected to the output end of the processing unit, and the other end of which is connected to the input end of the multilayer electrostrictive transducer; The processing unit is specifically used for: According to the transmission time interval of each group of two adjacent pulse electrical signals, the on and off of the magnetic switch unit is controlled, and when the magnetic switch unit is turned on, the next pulse electrical signal in each group of two adjacent pulse electrical signals to be sent is sent to the multilayer electrostrictive transducer.

6. The underwater ultrasonic transmitting device according to claim 5, characterized in that: Also includes: an amplifying unit, one end of which is connected to the output end of the processing unit, and the other end of which is connected to the input end of the multilayer electrostrictive transducer; The amplifying unit is used to amplify each of the pulse electrical signals generated by the processing unit to generate each pulse amplified electrical signal, and transmit each pulse amplified electrical signal to the multilayer electrostrictive transducer.

7. The underwater ultrasonic transmitting device according to claim 6, characterized in that: The amplification unit comprises: an amplifier and an inductor; One end of the amplifier is connected to the output end of the processing unit, the other end of the amplifier is connected to one end of the inductor, and the other end of the inductor is connected to the input end of the multilayer electrostrictive transducer.

8. The underwater ultrasonic transmitting device according to claim 1, characterized in that: Also includes: A power supply module and a low voltage dropout linear regulator, wherein the output end of the power supply module is connected to the input end of the low voltage dropout linear regulator, and the output end of the low voltage dropout linear regulator is connected to the power supply end of the processing unit; The power module is used to transmit the output power signal to the low voltage drop linear regulator; The low voltage difference linear regulator is used to perform voltage stabilization processing on the received electric energy signal and transmit the generated stabilization signal to the processing unit to provide electric energy to the processing unit.

9. The underwater ultrasonic transmitting device according to claim 1, characterized in that: The shell is a cylinder, the diameter of the cross section of the shell is 9.5 mm, and the length of the shell is 43 mm.

10. An ultrasonic positioning system, characterized in that: include: An ultrasonic receiving device and an underwater ultrasonic transmitting device as described in any one of claims 1 to 9 above; The underwater ultrasonic transmitting device is embedded in the body of the object to be tested; The ultrasonic receiving device is used to receive ultrasonic signals corresponding to each pulse signal emitted by the underwater ultrasonic transmitting device, and determine parameter information of the environment in which the object to be measured is currently located based on the ultrasonic signals corresponding to each pulse signal.

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