An underwater target ranging device and method based on ultrasonic time difference method

Abstract

An underwater target ranging device and method based on ultrasonic time difference method are provided, wherein a main measuring mechanism and a measured mechanism are installed facing each other, and the main measuring mechanism and the measured mechanism are connected by signals, the main measuring mechanism is provided with a measuring sound wave signal transmitting mechanism and an echo signal receiving mechanism, and the measured mechanism is provided with a measuring sound wave signal receiving mechanism and an echo signal transmitting mechanism. The measuring sound wave signal transmitting mechanism is provided with a transmitting head A, the echo signal receiving mechanism is provided with a measuring rod, a receiving head AL and a receiving head AS, the measuring sound wave signal receiving mechanism is provided with a receiving head BS, and the echo signal transmitting mechanism is provided with a transmitting head B. The underwater target ranging device based on ultrasonic time difference method of the present invention is not limited by the measuring direction, is not affected by the reflecting surface of the target to be measured, and has less harm to aquatic organisms.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater distance measurement, and in particular to an underwater target distance measurement device and method based on ultrasonic time difference method. Background Art

[0002] The purpose of underwater ranging technology is to obtain the distance between the measuring point and the measured object in water, which can be used in underwater exploration, salvage, search and other projects.

[0003] In the prior art, underwater ranging mainly includes two methods: laser ranging and ultrasonic ranging based on the reflection principle. For laser ranging, due to the large attenuation of laser underwater, its transmission distance will be greatly affected, thus limiting the length of laser measurement. In addition, the transparency of water will also have a great impact on the transmission of laser. When the water transparency is too poor, laser measurement cannot be performed. For ultrasonic ranging based on the reflection principle, its transmission attenuation is small and is not affected by transparency. However, the transmission of ultrasonic waves is directional, which leads to the existing ultrasonic ranging being based on the reflection principle for measurement. The ranging process is a single-ended emission of ultrasonic waves and reception of reflected sound waves. The ultrasonic ranging based on the reflection principle has the following problems: First, the reflection of ultrasonic waves is passive, and it is only suitable for measuring the distance of objects that can be reflected back by ultrasonic waves in the vertical or horizontal direction, and cannot be measured in all directions at will; second, if the reflective surface of the measured object is rough and uneven, diffuse reflection will be formed, which has a great impact on the measurement; third, ultrasonic waves also have a certain attenuation in water. If the measurement distance needs to be increased, the output power of the sound wave transmitting device must be increased. Increasing the output power will increase the damage to aquatic organisms.

[0004] Therefore, in view of the shortcomings of the prior art, it is necessary to provide an underwater target ranging device and method based on the ultrasonic time difference method to overcome the shortcomings of the prior art. Summary of the invention

[0005] One of the purposes of the present invention is to avoid the shortcomings of the prior art and provide an underwater target ranging device based on the ultrasonic time difference method, which is not limited by the measuring direction when in use, is not affected by the reflecting surface of the target to be measured, and has little harm to aquatic organisms.

[0006] The above-mentioned purpose of the present invention is achieved through the following technical measures.

[0007] Provided is an underwater target ranging device based on ultrasonic time difference method, which comprises a main measuring mechanism and a measured mechanism, the main measuring mechanism and the measured mechanism are installed facing each other, and a signal connection is provided between the main measuring mechanism and the measured mechanism.

[0008] The main measuring mechanism is used to send measurement sound wave signals to the measured mechanism, receive echo signals sent by the measured mechanism, adjust the signal sending and receiving directions, and calculate and output the distance between the main measuring mechanism and the measured mechanism.

[0009] The measured mechanism is used to send echo signals to the main measuring mechanism, receive the measuring sound wave signals sent by the main measuring mechanism, and adjust the signal sending and receiving directions.

[0010] Preferably, the main measuring mechanism is provided with a measuring sound wave signal transmitting mechanism and an echo signal receiving mechanism.

[0011] The measured mechanism is provided with a measuring sound wave signal receiving mechanism and an echo signal transmitting mechanism.

[0012] The measuring sound wave signal transmitting mechanism is signal-connected to the measuring sound wave signal receiving mechanism, and the echo signal transmitting mechanism is signal-connected to the echo signal receiving mechanism.

[0013] Preferably, the main measuring mechanism is provided with a measuring rod for obtaining the transmission speed of sound waves.

[0014] The measuring sound wave signal transmitting mechanism is set as a transmitting head A, and the echo signal receiving mechanism is provided with a receiving head AL for first receiving the echo signal and a receiving head AS for later receiving the echo signal. The receiving head AL and the receiving head AS are set at different ends of the measuring rod.

[0015] The measurement sound wave signal receiving mechanism is set as a receiving head BS, and the echo signal transmitting mechanism is a transmitting head B.

[0016] Preferably, the main measuring mechanism is further provided with a regulating component A, a horizontal frame A and an acoustic wave frame A, wherein the horizontal frame A is rotatably connected to the regulating component A, and the acoustic wave frame A is rotatably connected to the horizontal frame A.

[0017] The transmitting head A, the measuring rod, the receiving head AL and the receiving head AS are fixedly assembled on the sonic wave frame A.

[0018] The regulating component A, the horizontal frame A and the sonic frame A are electrically connected.

[0019] The regulating component A is provided with an intelligent box A, a magnet A, a motor AH, an antenna, a photoelectric gate AHR, and a photoelectric gate AHL.

[0020] The side of the smart box A on which the antenna is provided is defined as the front side of the smart box A. The front side of the smart box A is also provided with a keyboard and a display screen, and both the keyboard and the display screen are fixedly assembled with the smart box.

[0021] The magnet A is mounted on any side of the smart box A, the motor AH, the photogate AHR and the photogate AHL are mounted on the back of the smart box A, the horizontal frame A is provided with a bracket AH, a light shielding sheet AH, a motor AV, a photogate AVR and a photogate AVL, the side of the bracket AH provided with the light shielding sheet AH is defined as the back of the bracket AH, and the motor AV, the photogate AVR and the photogate AVL are mounted on the front of the bracket AH.

[0022] The acoustic wave frame A is also provided with a bracket AS, a light shielding sheet AS, a receiving head AH, a tracking head, and a receiving head AV. The side of the bracket AS provided with the light shielding sheet AS is defined as the back side of the bracket AS. The tracking head, the receiving head AH, the receiving head AV, the transmitting head A, the receiving head AS, and the measuring rod fixing point are respectively located on the front side of the bracket AS. The end of the receiving head AH away from the bracket AS is equipped with a receiving cover AH, and the end of the receiving head AV away from the bracket AS is equipped with a receiving cover AV. The connecting line of the light shielding sheet AS, the measuring rod fixing point, the receiving head AS, the transmitting head A, the receiving head AH, the tracking head and the receiving head AV is parallel to the axis of the bracket AS.

[0023] Preferably, the motor AH is provided with a rotation axis AH, and the motor AV is provided with a rotation axis AV.

[0024] Both the light blocking sheet AH and the light blocking sheet AS are L-shaped structures. A rotation shaft hole AH is provided on the side of the bracket AH facing the corner of the light blocking sheet AH, and a rotation shaft hole AS is provided on the side of the bracket AS facing the corner of the light blocking sheet AS. The rotation shaft AH is assembled in the rotation shaft hole AH, and the rotation shaft AS is assembled in the rotation shaft hole AS.

[0025] Preferably, the measured mechanism is provided with a regulating component B, a horizontal frame B and an acoustic wave frame B, the regulating component B is rotatably connected to the horizontal frame B, the horizontal frame B is rotatably connected to the vertical frame B, and the vertical frame B is rotatably connected to the acoustic wave frame B.

[0026] The receiving head BS and the transmitting head B are arranged on the sonic frame B.

[0027] The regulating component B, the horizontal frame B, the vertical frame B and the sonic frame B are electrically connected.

[0028] The regulating component B is provided with an intelligent box B, a magnet B, a motor BH, a photoelectric gate BHR, a photoelectric gate BHL and a switch.

[0029] The side of the smart box B provided with the switch is defined as the front side of the smart box B, the motor BH, the photoelectric gate BHR, and the photoelectric gate BHL are assembled on the back side of the smart box B, the magnet B is assembled on any side of the smart box B, the horizontal frame B is provided with a bracket BH, a light shielding sheet BV, a motor BV, a photoelectric gate BVR, and a photoelectric gate BVL, the side of the bracket BH provided with the light shielding sheet BV is defined as the back side of the bracket BH, the motor BV, the photoelectric gate BHR, and the photoelectric gate BHL are assembled on the back side of the bracket BH.

[0030] The vertical frame B is provided with a bracket BA, a light blocking sheet BA, a motor BA, a photoelectric gate BAR and a photoelectric gate BAL. The side of the bracket BA provided with the light blocking sheet BA is defined as the back side of the bracket BA. The motor BA, the photoelectric gate BAR and the photoelectric gate BAL are assembled on the back side of the bracket BA. The sonic wave frame B is also provided with a bracket BS, a light blocking sheet BS, a receiving head BV, a receiving head BH and a receiving head BL. The side of the bracket BS provided with the light blocking sheet BS is defined as the back side of the bracket BS. The receiving head BV, the receiving head BH, the transmitting head B, the receiving head BS and the receiving head BL are respectively assembled on the front side of the bracket BS. The end of the receiving head BV away from the bracket BS is equipped with a receiving cover BV, and the end of the receiving head BH away from the bracket BS is equipped with a receiving cover BH. The connecting line of the light blocking sheet BS, the receiving head BV, the receiving head BH, the transmitting head B, the receiving head BS and the receiving head BL is parallel to the axis of the bracket BS.

[0031] Preferably, the motor BH is provided with a rotating shaft BH, the motor BV is provided with a rotating shaft BV, and the motor BA is provided with a rotating shaft BA.

[0032] The light blocking piece BV, light blocking piece BA and light blocking piece BS are all L-shaped structures. A rotating rod BH is provided on the side of the bracket BH facing the corner of the light blocking piece BV, a rotating rod BA is provided on the side of the bracket BA facing the corner of the light blocking piece BA, and a rotating shaft hole BS is provided on the side of the bracket BS facing the corner of the light blocking piece BS.

[0033] The rotating rod BH is assembled with the rotating shaft BH, the rotating rod BA is assembled with the rotating shaft BV, and the rotating shaft BA is assembled in the rotating shaft hole BS.

[0034] Preferably, the photoelectric gate AHR and the photoelectric gate AHL have an included angle of 90°, and the opening of the included angle faces away from the motor.

[0035] The photogate BHR and the photogate BHL have an included angle of 90°, with the opening of the included angle facing away from the motor.

[0036] The photogate AVR and the photogate AVL are assembled in parallel, the photogate BVR and the photogate BVL are assembled in parallel, and the photogate BAR and the photogate BAL are assembled in parallel.

[0037] The light shield AH is installed in match with the photoelectric gate AHR and the photoelectric gate AHL, the light shield AS is installed in match with the photoelectric gate AVR and the photoelectric gate AVL, the light shield BH is installed in match with the photoelectric gate BHR and the photoelectric gate BHL, the light shield BA is installed in match with the photoelectric gate BVR and the photoelectric gate BVL, and the light shield BS is installed in match with the photoelectric gate BAR and the photoelectric gate BAL.

[0038] The receiving cover AH is provided with a slot AH parallel to the axis of the bracket AS, and the receiving cover AS is provided with a slot AV perpendicular to the axis of the bracket AS.

[0039] The receiving cover BH is provided with a groove BH parallel to the axis of the bracket BS, and the receiving cover BV is provided with a groove BV perpendicular to the axis of the bracket BS.

[0040] Preferably, the smart box A is internally provided with a power supply, a single-chip microcomputer A and a wireless communication device. The single-chip microcomputer A is used to receive control signals from the keyboard and switch signals from the photoelectric gate AHR, the photoelectric gate AHL, the photoelectric gate AVR, the photoelectric gate AVL, the receiving head AH, the receiving head AV, the receiving head AS and the receiving head AL. The single-chip microcomputer is also used to send control signals from the tracking head, the transmitting head A, the motor AH and the motor AV. The single-chip microcomputer is also used to calculate the distance between the main measuring mechanism and the measured mechanism and send the calculated distance to the display screen for display output.

[0041] The smart box B is internally provided with a power supply, a single-chip microcomputer B and a wireless communication device. The single-chip microcomputer B is used to receive switching signals of the photogate BHR, the photogate BHL, the photogate BVR, the photogate BAR, the photogate BAL, the receiving head BH, the receiving head BV, the receiving head BS and the receiving head BL. The single-chip microcomputer B is also used to send control signals of the transmitting head B, the motor BH, the motor BV and the motor BV.

[0042] The underwater target distance measuring device based on ultrasonic time difference method of the present invention is provided with a main measuring mechanism and a measured mechanism, the main measuring mechanism and the measured mechanism are installed facing each other, and the main measuring mechanism and the measured mechanism are connected by signals. The main measuring mechanism is used to send a measuring sound wave signal to the measured mechanism, receive an echo signal sent by the measured mechanism, adjust the direction of signal sending and receiving, and calculate and output the distance between the main measuring mechanism and the measured mechanism. The measured mechanism is used to send an echo signal to the main measuring mechanism, receive a measuring sound wave signal sent by the main measuring mechanism, and adjust the direction of signal sending and receiving. The ultrasonic propagation direction of the main measuring mechanism and the measured mechanism can be flexibly adjusted, so that the distance measuring device is not limited by the measuring direction. In addition, the echo received by the main measuring mechanism is emitted by the measured mechanism at the end of the target to be measured, rather than the echo reflected by the target to be measured, so the device is not affected by the reflection surface of the measuring end, and under the same distance to be measured, the power required by the device is smaller than that of the traditional ultrasonic distance measuring device that receives the reflected echo of the target to be measured, thereby reducing the harm to the aquatic organisms.

[0043] Another object of the present invention is to avoid the shortcomings of the prior art and provide an underwater target ranging method based on the ultrasonic time difference method, which is easy to operate and is not affected by the reflecting surface of the measured end. The ultrasonic power used to measure the same distance is small and the harm to marine life is small.

[0044] The above-mentioned purpose of the present invention is achieved through the following technical measures.

[0045] A method for measuring the distance between underwater targets based on an ultrasonic time difference method is provided, which is performed using an underwater target measuring device based on an ultrasonic time difference method, and comprises the following steps:

[0046] Step 1: Install the main test mechanism at the measuring end and the tested mechanism at the tested end.

[0047] Step 2: The main measuring mechanism transmits the acoustic wave scanning signal I, and the measured mechanism tracks the acoustic wave scanning signal I. When the measured mechanism tracks the acoustic wave scanning signal I, it stops tracking the acoustic wave scanning signal I and sends the acoustic wave scanning signal II to the main measuring mechanism 1. Then the main measuring mechanism tracks the acoustic wave scanning signal II. When the main measuring mechanism 1 tracks the acoustic wave scanning signal II, the direction calibration is completed.

[0048] Step 3: The transmitter A of the main measuring mechanism transmits a measuring sound wave signal to the measured mechanism and starts timing at the same time.

[0049] Step 4: After the receiving head BS of the measured structure receives the measuring sound wave signal, a delay of T d , the transmitter B sends an echo signal to the main measuring mechanism, where T d is the device delay constant.

[0050] Step 5: When the receiving head AL of the main measuring mechanism receives the echo signal, record the receiving time T L When the receiving head AS receives the echo signal, the receiving time T is recorded. S .

[0051] Step 6: Calculate the propagation speed V of the sound wave at the current temperature and water quality, and V = L 测 / (T S -T L ), where L 测 is the distance between receiving head AS and receiving head AL.

[0052] Step 7: Get the distance L between the measuring end and the measured end, and L = 0.5V × (T S -T d ).

[0053] The underwater target ranging method based on the ultrasonic time difference method of the present invention is performed using an underwater target ranging device based on the ultrasonic time difference method, and includes the following steps: Step 1, the main measuring mechanism is installed at the measuring end, and the measured mechanism is installed at the measured end. Step 2, the main measuring mechanism transmits a sonic scanning signal I, and the measured mechanism tracks the sonic scanning signal I. When the measured mechanism tracks the sonic scanning signal I, it stops tracking the sonic scanning signal I and sends a sonic scanning signal II to the main measuring mechanism 1, and then the main measuring mechanism tracks the sonic scanning signal II. When the main measuring mechanism 1 tracks the sonic scanning signal II, the direction calibration is completed. Step 3, the main measuring mechanism transmitter A transmits a measuring sonic wave signal to the measured mechanism, and starts timing at the same time. Step 4, the measured mechanism receiving head BS delays T after receiving the measuring sonic wave signal d , the transmitter B sends an echo signal to the main measuring mechanism, where T d is the device delay constant. Step 5: When the receiving head AL of the main measuring mechanism receives the echo signal, record the receiving time T L When the receiving head AS receives the echo signal, the receiving time T is recorded. S Step 6: Calculate the propagation speed V of the sound wave at the current temperature and water quality, and V = L 测 / (T S -T L ), where L 测 is the distance between the receiving head AS and the receiving head AL. Step 7: Get the distance L between the measuring end and the measured end, and L = 0.5V × (T S -T d ). This method is easy to operate, and the ultrasonic transmission of the device used for measurement is unidirectional. Under the same distance to be measured, this device requires less power than the traditional ultrasonic distance measuring device that receives the reflected echo of the target to be measured, reducing the harm to aquatic organisms. In addition, the main measuring mechanism and the measured mechanism can adjust the sound wave emission direction through alignment, and this method also has the characteristic of no restriction on the measurement direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The present invention is further described with reference to the accompanying drawings, but the contents in the accompanying drawings do not constitute any limitation to the present invention.

[0055] Figure 1 The present invention is a schematic structural diagram of an underwater target ranging device based on ultrasonic time difference method.

[0056] Figure 2 The present invention is a schematic diagram of the main measuring mechanism structure of an underwater target ranging device based on the ultrasonic time difference method.

[0057] Figure 3 Schematic diagram of the structure of the control component A of the underwater target ranging device based on the ultrasonic time difference method of the present invention, wherein Figure 3(a) and (b) are schematic diagrams of the structure of the control component A at different angles.

[0058] Figure 4 The present invention is a schematic diagram of the structure of a horizontal frame A of an underwater target ranging device based on an ultrasonic time difference method.

[0059] Figure 5 The present invention is a schematic diagram of the structure of a sonic frame A of an underwater target ranging device based on an ultrasonic time difference method.

[0060] Figure 6 The present invention is a schematic diagram of the structure of a measured mechanism of an underwater target ranging device based on an ultrasonic time difference method.

[0061] Figure 7 Schematic diagram of the structure of the control component B of the underwater target ranging device based on the ultrasonic time difference method of the present invention, wherein Figure 7 (a) and (b) are schematic diagrams of the structure of the control component B at different angles.

[0062] Figure 8 It is a structural schematic diagram of a horizontal frame B of an underwater target ranging device based on an ultrasonic time difference method according to the present invention.

[0063] Fig. 9 The present invention is a schematic diagram of the structure of a vertical frame B of an underwater target ranging device based on the ultrasonic time difference method.

[0064] Fig.10 The present invention is a schematic diagram of the structure of a sonic frame B of an underwater target ranging device based on an ultrasonic time difference method.

[0065] exist Figures 1 to 10 Including:

[0066] Main testing organization 1,

[0067] Control component A 11, smart box A 111, magnet A 112, motor AH 113, antenna 114, photoelectric gate AHR 115, photoelectric gate AHL 116, keyboard 117, display screen 118,

[0068] Horizontal frame A12, bracket AH 121, light shield AH 122, motor AV 123, photoelectric gate AVR 125, photoelectric gate AVL126,

[0069] Acoustic wave stand A13, bracket AS 131, light shield AS132, tracking head 133, receiving head AH 1341, receiving cover AH1342, slot AH 1343, receiving head AV 1351, receiving cover AV 1352, slot AV 1353, transmitting head A 136, receiving head AS137, receiving head AL 1381, measuring rod 1382,

[0070] Tested organization 2,

[0071] Control component B21, smart box B 211, magnet B 212, motor BH 213, photoelectric gate BHR 215, photoelectric gate BHL216, switch 217,

[0072] Horizontal frame B 22, bracket BH 221, light shield BH 222, motor BV 223, photoelectric gate BVR 225, photoelectric gate BVL226,

[0073] Vertical frame B 24, bracket BA 241, light shield BA 242, motor BA 243, photoelectric gate BAR 245, photoelectric gate BAL246,

[0074] Sonic wave frame B 23, bracket BS 231, light shield BS 232, receiving head BH 2341, receiving cover BH 2342, slot BH2343, receiving cover BV2351, receiving head BV 2352, slot BV 2353, transmitting head B 236, receiving head BS 237, receiving head BL238. DETAILED DESCRIPTION

[0075] The present invention will be further described with reference to the following examples.

[0076] Example 1.

[0077] An underwater target ranging device based on ultrasonic time difference method, such as Figure 1 As shown, a main measuring mechanism 1 and a measured mechanism 2 are provided, and the main measuring mechanism 1 and the measured mechanism 2 are installed facing each other, and the main measuring mechanism 1 and the measured mechanism 2 are connected by signals. The main measuring mechanism 1 is used to send a measuring sound wave signal to the measured mechanism 2, receive an echo signal sent by the measured mechanism 2, adjust the direction of signal sending and receiving, and calculate and output the distance between the main measuring mechanism 1 and the measured mechanism 2. The measured mechanism 2 is used to send an echo signal to the main measuring mechanism 1, receive a measuring sound wave signal sent by the main measuring mechanism 1, and adjust the direction of signal sending and receiving. The ultrasonic waves received by the main measuring mechanism 1 and the measured mechanism 2 are all unidirectional, not reflected waves, and are not affected by the reflecting surface. Moreover, the unidirectional propagation distance is short, and the required device power is small, so the harm to aquatic organisms is relatively small. It should be noted that the setting method of the measuring sound wave signal transmitting mechanism, the echo signal receiving mechanism, the measuring sound wave signal receiving mechanism and the echo signal transmitting mechanism is not limited to the setting method in this embodiment. The main measuring mechanism 1 can also be provided with a measuring sound wave signal receiving mechanism and an echo signal transmitting mechanism, and the measured mechanism 2 can be provided with a measuring sound wave signal transmitting mechanism and an echo signal receiving mechanism.

[0078] In this embodiment, the main measuring mechanism 1 is provided with a measuring sound wave signal transmitting mechanism and an echo signal receiving mechanism, and the measured mechanism 2 is provided with a measuring sound wave signal receiving mechanism and an echo signal transmitting mechanism. The measuring sound wave signal transmitting mechanism is signal-connected to the measuring sound wave signal receiving mechanism, and the echo signal transmitting mechanism is signal-connected to the echo signal receiving mechanism.

[0079] In this embodiment, the main measuring mechanism 1 is provided with a measuring rod 1382 for obtaining the transmission speed of sound waves. The measuring sound wave signal transmitting mechanism is provided with a transmitting head A, and the echo signal receiving mechanism is provided with a receiving head AL 1381 for first receiving the echo signal and a receiving head AS 137 for later receiving the echo signal, and the receiving head AL 1381 and the receiving head AS 137 are provided at different ends of the measuring rod 1382. The measuring sound wave signal receiving mechanism is provided with a receiving head BS 237, and the echo signal transmitting mechanism is a transmitting head B 236. The transmitting head A 136 transmits a sound wave signal, the receiving head BS 237 receives the sound wave signal transmitted by the transmitting head A 136, the transmitting head B 236 sends an echo signal, the receiving head AL 1381 receives the echo signal, and the receiving head AS 137 receives the echo signal after a period of time. The distance between the receiving head AS and the receiving head AL is determined by the measuring rod and is known. The transmission speed of the sound waves in the current water temperature and water quality can be calculated based on the time difference between the receiving head AS 137 and the receiving head AL 1381 receiving the echo signal.

[0080] In this embodiment, the measuring sound wave signal transmitting mechanism is provided with a transmitting head A, and the echo signal receiving mechanism is provided with a measuring rod, a receiving head AL and a receiving head AS. The transmitting head A and the receiving head AS are located on the same plane, the measuring rod is perpendicular to the plane and one end is located in the plane, and the receiving head AL is arranged at the end of the measuring rod away from the plane. The measuring sound wave signal receiving mechanism is provided with a receiving head BS, and the echo signal transmitting mechanism is provided with a transmitting head B. The transmitting head A is used to transmit the measuring sound wave signal to the measured mechanism, and the receiving head BS is used to receive the measuring sound wave signal emitted by the transmitting head A. The transmitting head B is used to transmit the echo signal to the main measuring mechanism after the receiving head BS receives the measuring sound wave signal, and the receiving head AL and the receiving head AS are both used to receive the echo signal. It should be noted that the measuring sound wave receiving mechanism of the measured mechanism 2 needs to wait for a period of time after receiving the measuring sound wave signal before transmitting the echo signal to the main measuring mechanism. Finally, the propagation speed of the signal transmitted by the transmitter B236 can be calculated by the distance between the receiving head AS and the receiving head AL and the time difference between the receiving head AL1381 and the receiving head BS231 receiving the signal from the transmitter B236.

[0081] like Figure 2As shown, the main measuring mechanism 1 is also provided with a regulating component A11, a horizontal frame A12 and an acoustic wave frame A13, the horizontal frame A12 is rotatably connected to the regulating component A11, and the acoustic wave frame A13 is rotatably connected to the horizontal frame A12. The transmitting head A136, the measuring rod, the receiving head AL1381 and the receiving head AS137 are fixedly assembled on the acoustic wave frame A13, and the regulating component A11, the horizontal frame A12 and the acoustic wave frame A13 are electrically connected. The regulating component A11, the horizontal frame A12 and the acoustic wave frame A13 can cooperate to adjust the transmission direction of the acoustic wave signal emitted by the main measuring mechanism 1 to the measured mechanism 2 and the receiving direction of the echo signal emitted by the measured mechanism 2.

[0082] like Figure 3 As shown, the control component A11 is provided with a smart box A111, a magnet A112, a motor AH113, an antenna 114, a photoelectric gate AHR115, and a photoelectric gate AHL116. The side of the smart box A111 provided with the antenna 114 is defined as the front side of the smart box A111. The front side of the smart box A111 is also provided with a keyboard 117 and a display screen 118. The keyboard 117 and the display screen 118 are fixedly assembled with the smart box. The magnet A112 is assembled on any side of the smart box A111. The motor AH113, the photoelectric gate AHR115, and the photoelectric gate AHL116 are assembled on the back side of the smart box A111. The magnet A112 facilitates the main measuring mechanism 1 to be adsorbed on the measurement data terminal, and the antenna 114 is used for wireless signal connection with devices such as computers, mobile phones, and single-chip microcomputers. It should be noted that the smart box A111 is also provided with a power supply, a single-chip microcomputer, wireless communication, and a matching circuit module. These are all well-known technologies to those skilled in the art and will not be repeated here.

[0083] like Figure 4 The horizontal frame A12 is provided with a bracket AH121, a light shielding sheet AH122, a motor AV123, a photoelectric gate AVR125 and a photoelectric gate AVL126. The side of the bracket AH121 provided with the light shielding sheet AH122 is defined as the back side of the bracket AH121, and the motor AV123, the photoelectric gate AVR125 and the photoelectric gate AVL126 are assembled on the front side of the bracket AH121.

[0084] In this embodiment, the motor AH113 is provided with a rotating shaft AH, the light shielding sheet AH122 is an L-shaped structure, and the bracket AH121 is provided with a rotating shaft hole AH on the side facing the corner of the light shielding sheet AH122, and the rotating shaft AH is assembled in the rotating shaft hole AH, so that the bracket AH121 can rotate synchronously with the motor AH113. The photoelectric gate AHR115 and the photoelectric gate AHL116 are assembled with an angle, which is 90°, and the angle opening is facing away from the motor, and the light shielding sheet AH122 and the photoelectric gate AHR115 and the photoelectric gate AHL116 are matched and installed. When the horizontal frame A12 is in the initial position, the light shielding sheet AH122 is located between the light-emitting device and the receiving device of the photoelectric gate AHR115, and the bracket AH121 can only rotate forward. When the bracket AH121 can rotate synchronously with the motor AH113 to between the light-emitting device and the receiving device of the light shielding sheet AH122L, the bracket AH121 stops rotating forward and can only rotate in the reverse direction. The arrangement of the photoelectric gate AHR115 and the photoelectric gate AHL116 enables the bracket AH121 to rotate horizontally in all directions and prevent the connection lines between the horizontal frame A12, the sonic frame A13 and the regulating component A11 from winding. It should be noted that when the light-blocking sheet AH122 is located between the light-emitting device and the receiving device of the photoelectric gate AHL116, the position of the horizontal frame A12 can also be the initial position of the horizontal frame A12. At this time, the bracket AH121 can only rotate in the reverse direction at the beginning. When the light-blocking sheet AH122 is rotated to between the photoelectric gate AHR115, the bracket AH121 starts to rotate forward.

[0085] like Figure 5As shown, the acoustic wave stand A13 is also provided with a bracket AS131, a light shielding sheet AS132, a receiving head AS137, a receiving head AH1341, a tracking head 133, and a receiving head AV1351. The side of the bracket AS131 provided with the light shielding sheet AS132 is defined as the back side of the bracket AS131. The tracking head 133, the receiving head AH1341, the receiving head AV1351, the transmitting head A136, the receiving head AS137, and the measuring rod 1382 are respectively assembled on the front side of the bracket AS131. The light shielding sheet AS132, the measuring rod 1382, the receiving head AS137, the transmitting head A136, the receiving head AH1341, the tracking head 133, and the receiving head AV1351 are arranged on the same straight line parallel to the axis of the bracket AS131. The transmitting head A136 is used for transmitting the acoustic wave signal of the main measuring mechanism 1, and the receiving head AS137 is used for receiving the echo signal transmitted by the measured mechanism 2. The tracking head 133 is used to transmit the acoustic wave scanning signal, which is used for the alignment between the main measuring mechanism 1 and the measured mechanism 2. In this embodiment, the tracking head 133 uses a horizontal non-directional columnar underwater acoustic transducer, and the receiving head AH1341, the receiving head AV1351, the transmitting head A136, and the receiving head AS137 use ultrasonic waterproof split transducers. It should be noted that the transducers used by the tracking head 133, the receiving head AH1341, the receiving head AV1351, the transmitting head A136, and the receiving head AS137 are not limited to the transducers in this embodiment. It should also be noted that the distance between the receiving head AS and the receiving head AL can be adjusted by the length of the measuring rod 1382, and its specific length is set according to needs, preferably 2000mm.

[0086] In this embodiment, the end of the measuring rod 1382 away from the bracket AS131 is equipped with a receiving head AL1381. The receiving head AL1381 and the receiving head AS137 can form a distance difference for receiving echo signals, which is combined with the time difference of receiving signals to calculate the transmission speed of sound waves at the same temperature and water quality as when measuring the distance. The end of the receiving head AH1341 away from the bracket AS131 is equipped with a receiving cover AH1342, and the end of the receiving head AV1351 away from the bracket AS131 is equipped with a receiving cover AV1352. The receiving cover AH1342 is provided with a groove AH1343 parallel to the axis of the bracket AS131, and the receiving cover AV1352 is provided with a groove AV1353 perpendicular to the axis of the bracket AS131. The receiving head AH1341 and the receiving head AV1351 are used by the main measuring mechanism 1 to track the scanning signal emitted by the measured mechanism 2. For the receiving head AH1341, the receiving head AH1341 can receive the sound wave signal only when the scanned signal is in the same plane as the slot AH1343, and the signal in a different plane will be blocked by the cover AH1342. For the receiving head AV1351, the receiving head AV1351 can receive the sound wave signal only when the scanned signal is in the same plane as the slot AV1353, and the signal in a different plane will be blocked by the cover AV1352. The cover AH1342 and the cover AV1352 are made of sound insulation material rubber. It should be noted that the sound insulation material is not limited to the sound insulation rubber of this embodiment, and can also be sound insulation plastic, sound insulation metal, etc.

[0087] In this embodiment, the motor AV123 is provided with a rotating shaft AV, the light shielding sheet AS132 is an L-shaped structure, and the bracket AS131 is provided with a rotating shaft hole AS on the side facing the corner of the light shielding sheet AS132, and the rotating shaft AS is assembled in the rotating shaft hole AS. The photoelectric gate AVR125 and the photoelectric gate AVL126 are assembled in parallel, and the light shielding sheet AS132 is matched with the photoelectric gate AVR125 and the photoelectric gate AVL126. When the sonic wave bracket A13 is in the initial position, the light shielding sheet AS132 is located between the light-emitting device and the receiving device of the photoelectric gate AVR125, and the bracket AS131 can only rotate forward. When the bracket AS131 can rotate synchronously with the motor AV123 to between the light-emitting device and the receiving device of the light shielding sheet AVL, the bracket AS131 stops rotating forward and can only rotate in the reverse direction. The arrangement of the photoelectric gate AVR125 and the photoelectric gate AVL126 enables the bracket AS131 to rotate vertically in all directions and cooperate with the bracket AH121 to eliminate the blind spot of the tracking signal scanning, and prevent the connection line between the horizontal frame A12 and the acoustic wave frame A13 from winding. It should be noted that when the light shielding sheet AV is located between the light-emitting device and the receiving device of the photoelectric gate AVL126, the position of the acoustic wave frame A13 can also be the initial position of the acoustic wave frame A13. At this time, the bracket AS131 can only rotate in the reverse direction at the beginning. When the light shielding sheet AS132 is turned to the photoelectric gate AVR125, the bracket AS131 starts to rotate forward.

[0088] like Figure 6 As shown, the measured mechanism 2 is provided with a regulating component B21, a horizontal frame B22 and an acoustic wave frame B23, the regulating component B21 is rotatably connected to the horizontal frame B22, the horizontal frame B22 is rotatably connected to the vertical frame B24, and the vertical frame B24 is rotatably connected to the acoustic wave frame B23. The receiving head BS and the transmitting head B are arranged on the acoustic wave frame B, and the regulating component B21, the horizontal frame B22, the vertical frame B24 and the acoustic wave frame B23 are electrically connected. The regulating component B21, the horizontal frame B22, the vertical frame B24 and the acoustic wave frame B23 can cooperate to adjust the receiving direction of the acoustic wave signal sent by the main measuring mechanism 1 to the measured mechanism 2 and the transmission direction of the echo signal sent to the main measuring mechanism 1.

[0089] like Figure 7 As shown, the control component B21 is provided with a smart box B211, a magnet B212, a motor BH213, a photoelectric gate BHR215, a photoelectric gate BHL216 and a switch 217. The side of the smart box B211 provided with the switch 217 is defined as the front side of the smart box B211, the motor BH213, the photoelectric gate BHR215, and the photoelectric gate BHL216 are mounted on the back side of the smart box B211, and the magnet B212 is mounted on any side of the smart box B211. The magnet B212 facilitates the main measuring mechanism 1 to be adsorbed on the measurement data end.

[0090] It should be noted that the smart box B211 is also equipped with a power supply, a single-chip microcomputer, wireless communication and supporting circuit modules. These are technologies well known to people in this field and will not be elaborated here.

[0091] like Figure 8 As shown, the horizontal frame B22 is provided with a bracket BH221, a light-blocking plate BV, a motor BV223, a photoelectric gate BVR225 and a photoelectric gate BVL226. The side of the bracket BH221 on which the light-blocking plate BV is provided is defined as the back side of the bracket BH221, and the motor BV223, the photoelectric gate BHR215 and the photoelectric gate BHL216 are assembled on the back side of the bracket BH221.

[0092] In this embodiment, the motor BH213 is provided with a rotating shaft BH, the light shielding piece BV is an L-shaped structure, and a rotating rod BH is provided on the side of the bracket BH221 facing the corner of the light shielding piece BV. The rotating rod BH is assembled with the rotating shaft BH, and the bracket BH221 can rotate synchronously with the motor BH213. The photoelectric gate BHR215 and the photoelectric gate BHL216 are assembled with an angle, which is 90°, and the angle opening is facing away from the motor. The light shielding piece BH222 and the photoelectric gate AHR115 and the photoelectric gate AHL116 are matched and installed. When the horizontal frame B22 is in the initial position, the light shielding piece BH222 is located between the light-emitting device and the receiving device of the photoelectric gate BHR215, and the bracket BH221 can only rotate forward. When the bracket BH221 can rotate synchronously with the motor BH213 to between the light-emitting device and the receiving device of the light shielding piece BH222L, the bracket BH221 stops rotating forward and can only rotate in the reverse direction. The arrangement of the photoelectric gate BHR215 and the photoelectric gate BHL216 enables the bracket BH221 to rotate horizontally in all directions and prevent the connection lines between the horizontal frame B22, the vertical frame B24, the acoustic frame B23 and the regulating component B21 from winding. It should be noted that when the light shielding sheet BH222 is located between the light-emitting device and the receiving device of the photoelectric gate BHL216, the position of the horizontal frame B22 can also be the initial position of the horizontal frame B22. At this time, the bracket BH221 can only rotate in the reverse direction at the beginning. When the light shielding sheet BH222 is turned to between the photoelectric gate BHR215, the bracket BH221 starts to rotate forward.

[0093] like Fig. 9 As shown, the vertical frame B24 is provided with a bracket BA241, a light blocking sheet BA242, a motor BA243, a photoelectric gate BAR245 and a photoelectric gate BAL246. The side of the bracket BA241 on which the light blocking sheet BA242 is provided is defined as the back side of the bracket BA241, and the motor BA243, the photoelectric gate BAR245 and the photoelectric gate BAL246 are assembled on the back side of the bracket BA241.

[0094] In this embodiment, the motor BV223 is provided with a rotating shaft BV, the light shielding piece BA242 is an L-shaped structure, and a rotating rod BA is provided on the side of the bracket BA241 facing the corner of the light shielding piece BA242. The rotating rod BA is assembled with the rotating shaft BV, and the bracket BA241 can rotate synchronously with the motor BV223. The BVR and the photoelectric gate BVL226 are assembled in parallel, and the light shielding piece BA242 and the photoelectric gate BVR225 and the photoelectric gate BVL226 are matched and installed. When the vertical frame B24 is in the initial position, the light shielding piece BA242 is located between the light-emitting device and the receiving device of the photoelectric gate BVR225, and the bracket BA241 can only rotate forward. When the bracket BA241 can rotate synchronously with the motor BV223 to between the light-emitting device and the receiving device of the light shielding piece BVR, the bracket BA241 stops rotating forward and can only rotate in the reverse direction. The light shielding sheet BA242 and the photoelectric gate BVR225 enable the bracket BA241 to rotate vertically in all directions and prevent the connection lines between the horizontal frame B22, the vertical frame B24 and the sound wave frame from winding. It should be noted that when the light shielding sheet BA242 is located between the light-emitting device and the receiving device of the photoelectric gate BVL226, the position of the vertical frame B24 can also be the initial position of the vertical frame B24. At this time, the bracket BA241 can only rotate in the reverse direction at the beginning. When the light shielding sheet BA242 is turned to between the photoelectric gate BVR225, the bracket BA241 starts to rotate forward.

[0095] like Fig.10 As shown, the sonic stand B23 is also provided with a bracket BS231, a light shielding sheet BS232, a receiving head BV2351, a receiving head BH and a receiving head BL238. The side of the bracket BS231 provided with the light shielding sheet BS232 is defined as the back side of the bracket BS231. The receiving head BV2351, the receiving head BH, the transmitting head B236, the receiving head BS237 and the receiving head BL238 are respectively assembled on the front side of the bracket BS231. The light shielding sheet BS232, the receiving head BV2351, the receiving head BH, the transmitting head B236, the receiving head BS237 and the receiving head BL238 are arranged on the same straight line parallel to the axis of the bracket BS231. The receiving head BL238 and the receiving head BS237 are used for angle tracking of the sonic scanning signal emitted by the main measuring mechanism 1. The transmitting head B236 is used for the measured mechanism 2 to emit the sonic scanning signal and the measured mechanism 2 to emit the echo signal to the main measuring mechanism 1. In this embodiment, the receiving head BV2351, the receiving head BH, the transmitting head B236, the receiving head BS237 and the receiving head BL238 use ultrasonic waterproof split transducers. It should be noted that the transducers used by the receiving head BV2351, the receiving head BH, the transmitting head B236, the receiving head BS237 and the receiving head BL238 are not limited to the transducers in this embodiment.

[0096] In this embodiment, the end of the receiving head BV2351 away from the bracket BS231 is equipped with a receiving cover BV2352, and the end of the receiving head BH2341 away from the bracket BS231 is equipped with a receiving cover BH2342. The receiving cover BH2342 is provided with a groove BH2343 parallel to the axis of the bracket BS231, and the receiving cover BV2352 is provided with a groove BV2353 perpendicular to the axis of the bracket BS231. The receiving head BV2351 and the receiving head BH are used to track the sound wave scanning signal emitted by the main measuring mechanism 1. For the receiving head BV2351, the receiving head BV2351 can only receive the sound wave signal when the scanned signal is in the same plane as the groove BV2353. The signal that is not in the same plane will be blocked by the receiving cover BV2352. For the receiving head BH2341, the receiving head BH2341 can receive the sound wave signal only when the scanned signal is in the same plane as the slot BH2343. The signal that is not in the same plane will be blocked by the receiving cover BH2342. The receiving cover BV2352 and the receiving cover BH2342 are made of sound insulation material rubber. It should be noted that the sound insulation material is not limited to the sound insulation rubber of this embodiment, and can also be sound insulation plastic, sound insulation metal, etc.

[0097] In this embodiment, the motor BA243 is provided with a rotating shaft BA, and the light shielding sheet BS232 is an L-shaped structure. The bracket BS231 is provided with a rotating shaft hole BS on the side facing the corner of the light shielding sheet BS232. The rotating shaft BA is assembled in the rotating shaft hole BS, and the bracket BS231 can rotate synchronously with the motor. The photoelectric gate BAR245 and the photoelectric gate BAL246 are assembled in parallel, and the light shielding sheet BS232 is matched with the photoelectric gate BAR245 and the photoelectric gate BAL246. When the sonic wave bracket B23 is in the initial position, the light shielding sheet BS232 is located between the light-emitting device and the receiving device of the photoelectric gate BAR245, and the bracket BS231 can only rotate forward. When the bracket BS231 can rotate synchronously with the motor BV223 to between the light-emitting device and the receiving device of the light shielding sheet BA242L, the bracket BS231 stops rotating forward and can only rotate in the reverse direction. The arrangement of the photoelectric gate BAR245 and the photoelectric gate BAL246 enables the bracket BS231 to rotate horizontally in all directions and prevent the connection line between the vertical frame B24 and the sound wave frame B23 from winding. It should be noted that when the light shielding sheet BS232 is located between the light-emitting device and the receiving device of the photoelectric gate BAL246, the position of the sound wave frame B23 can also be the initial position of the sound wave frame B23. At this time, the bracket BS231 can only rotate in the reverse direction at the beginning. When the light shielding sheet BS232 is turned to the photoelectric gate BAR245, the bracket BS231 rotates forward.

[0098] The working process of the underwater target ranging device based on ultrasonic time difference method is as follows:

[0099] (1) Device initialization. Turn on switch 217, the main measuring mechanism 1 is initialized, the motor AH113 rotates, and when the photoelectric gate AHR115 is blocked by the light blocking sheet AH122, the motor AH113 stops rotating, and the horizontal frame A12 returns to the initial position; the motor AV123 rotates, and when the photoelectric gate AVR125 is blocked by the light blocking sheet AS132, the photoelectric gate stops rotating, and the acoustic wave frame A13 returns to the initial position. The measured mechanism 2 is initialized, and the motor BH213 rotates. If the photoelectric gate BHR215 is blocked by the light blocking sheet BH222, the motor BH213 stops rotating, and the horizontal frame B22 returns to the initial position; the motor BA243 rotates. If the photoelectric gate BVR225 is blocked by the light blocking sheet BA242, the motor BA243 stops rotating, and the vertical frame B24 returns to the initial position; the motor BV223 rotates. If the photoelectric gate BAR245 is blocked by the light blocking sheet BS232, the motor BV223 stops rotating, and the sonic wave frame B23 returns to the initial position.

[0100] (2) Calculate the propagation velocity under the instantaneous temperature and water quality. Determine the propagation time T of the ultrasonic wave emitted by the transmitting head A136 to the receiving head AL1381. The distance between the receiving head AS and the receiving head AL is known to be L, and the propagation velocity V = L / T. It should be noted that this step can also be performed when the measurement sound wave signal is sent. T is the time difference between the receiving head AL1381 and the receiving head AS137 receiving the echo signal.

[0101] (3) The tracking head 133 on the main measuring mechanism 1 emits a surface acoustic wave scanning signal, and at the same time, the motor AV123 drives the acoustic wave frame A13 to rotate. After rotating a certain angle, the next rotation interval is ΔT, and ΔT in this embodiment is 1s. It should be noted that the motors in this embodiment are all controlled by a driver, and the driver uses 6400 steps, sends 32 pulses, and the rotation angle is 1.8°. Since the divergence angle of the acoustic wave surface is greater than the rotation angle, the scanning signal becomes omnidirectional without dead angles. The delay of 1s during scanning allows the measured end to have enough time to complete the calibration.

[0102] (4) The angle of the measured end tracks the scanning signal of the main measuring end. Within the ΔT time period, if the receiving head BS on the measured mechanism 2 receives the scanning signal sent by the tracking head 133 on the main measuring mechanism 1, the measured mechanism 2 starts to angle track the scanning signal of the main measuring end, and the motor BA243 drives the acoustic wave frame B23 to rotate. If the receiving head BL238 also receives the scanning signal at the same time, the motor BA243 stops rotating. If not, the motor BA243 rotates in the opposite direction. When the receiving head BL238 also receives the scanning signal, the motor stops rotating in the opposite direction. At this time, the signal surface is parallel to the side surface of the acoustic wave frame B23 that is parallel to the axis of the acoustic wave frame B23.

[0103] (5) After the measured end completes the angle tracking of the main measuring end scanning signal, the measured end starts to vertically track the main measuring end scanning signal. Motor BH213 rotates forward. When the photoelectric gate BHL216 is blocked, motor BH213 rotates reversely. If the receiving head BV2351 receives the scanning signal, motor BH213 stops rotating. At this time, the receiving head BV2351 is within the range perpendicular to the signal surface.

[0104] (6) After the measured end vertically tracks the scanning signal of the main measuring end, it starts to horizontally track the scanning signal of the main measuring end. Motor BV223 rotates forward. When the photoelectric gate BVL226 is blocked, motor BV223 rotates reversely. If the receiving head BH2341 receives the scanning signal, motor BV223 stops rotating. At this time, the receiving head BH2341 is in the range parallel to the signal surface.

[0105] (7) The measured end receives the scanning signal from the main measuring end and has completed the direction calibration. The motor AV123 stops, and after a delay of 500ms, the transmitter B236 of the measured end sends a tracking scanning signal to the main measuring end. When the echo signal is transmitted with a delay of 500ms, the interference of the reflected signal when the main measuring end transmits the measurement signal is eliminated.

[0106] (8) If the measured mechanism 2 does not receive the scanning signal from the main measuring mechanism 1, the motor AV123 stops rotating, the motor AH113 is started to rotate one circle, and then the motor AV123 drives the acoustic wave frame A13 to rotate in the opposite direction. After rotating a certain angle, the next rotation interval time period ΔT, and the subsequent steps are the same as (4), (5), (6) and (7).

[0107] (9) The main measuring end vertically tracks the scanning signal of the measured end, and the motor AH113 rotates forward. When the photoelectric gate AHL116 is blocked, the motor AH113 rotates reversely. Regardless of whether the motor AH113 rotates forward or reverse, when the receiving head AV1351 receives the scanning signal sent by the measured end, the motor AH113 stops rotating, and the main measuring end vertically tracks the scanning signal of the measured end.

[0108] (10) The main measuring end horizontally tracks the scanning signal of the measured end, and the motor AV123 rotates in the reverse direction. When the photoelectric gate AVL126 is blocked, the motor AV123 rotates in the forward direction. Regardless of whether the motor AV123 rotates in the forward or reverse direction, when the receiving head AH1341 receives the scanning signal from the measured end, the motor AV123 stops rotating, and the main measuring end horizontally tracks the scanning signal of the measured end.

[0109] (11) The main measuring end sends a measuring acoustic wave signal. After the main measuring end has completed horizontal tracking of the scanning signal of the measured end, it delays for 10 seconds, and the transmitter A136 continues to transmit the ultrasonic measurement signal for 250ms, and starts timing. The delay of 10 seconds is to wait for the tracking acoustic wave scanning signal to be eliminated to prevent it from affecting the measurement signal. The transmitter A136 continues to transmit the measurement signal for 250ms to clear all reflected wave echo signals after 500ms. When the receiving head AS137 receives the signal, the timing T S , the measurement of the acoustic wave signal is completed.

[0110] (12) Calculate the distance between the main measuring end and the measured end. The distance between the main measuring end and the measured end is L SP , combined with the propagation speed in (2), L SP =0.5V×(T S -T d ).

[0111] Among them, T d is the delay constant of the distance measuring device, which is measured only once before the device is used. The measurement method is: place the main measuring end and the measured end of the device at a distance of L SP The position of the parameter L SP In the input device, the main measuring end performs signal tracking and signal transmission, and calculates the propagation speed V at this time according to the formula in (2): 1 , then calculate the propagation time T SP =L SP / V 1 The final distance measuring device delay constant T d =T S -2T SP Among them, T SP The main measuring end measures the propagation time between the acoustic wave emission point and the echo signal emission point of the measured end, T S The time when the main measuring end receiving head AS receives the echo signal. d After the measurement is completed, it is saved in the microcontroller as a constant.

[0112] (13) The measured distance L SP It is displayed on the display screen 118 and L is transmitted through the wireless module SP The information is sent to devices such as computers, microcontrollers and mobile phones for users to view.

[0113] (14) Device reset and initialization, same as (1).

[0114] The underwater target distance measuring device based on ultrasonic time difference method is easy to use, not easy to wind up, and avoids the influence of reflected echo during use, so that the measurement result is more accurate. In addition, the device is not affected by the reflection surface of the measured end when in use, and the ultrasonic power used to measure the same distance is small, which has little harm to marine life.

[0115] Example 2.

[0116] An underwater target ranging device based on ultrasonic time difference method, other features are the same as those of embodiment 1, except that: the main measuring mechanism 1 is provided with a regulating component A11, a horizontal frame A12, a vertical frame A, and an acoustic frame A13, and the measured mechanism 2 is provided with a regulating component B21, a horizontal frame B22, and an acoustic frame B23. When the device is measuring, the measured mechanism 2 first transmits an acoustic wave scanning signal, and the main measuring mechanism 1 makes corresponding adjustments after receiving it, and then transmits an acoustic wave scanning tracking signal to the measured mechanism 2. The measured mechanism 2 is mostly installed in water. In this embodiment, the measured mechanism 2 includes fewer components, which can reduce the difficulty of the ranging personnel in installing the measured mechanism 2.

[0117] Example 3.

[0118] An underwater target ranging device based on the ultrasonic time difference method, the other features are the same as those of Example 1, except that: the main measuring mechanism 1 is provided with a transmitter A, a receiving head AS and a receiving head AL, and the receiving heads AS and AL are directly connected to the bracket AS. The measured mechanism 2 is provided with a transmitter B, a receiving head BS, a measuring rod and a receiving head BL, and the receiving head BL is connected to the bracket BS through the measuring rod. When the device is in use, the transmitter B first transmits a sound wave to the main measuring mechanism 1, and after the receiving head AS receives the sound wave signal, the transmitter A transmits a sound wave signal to the measured mechanism 2, and the time difference between the sound wave signal sent by the transmitter A received by the receiving head BS and the receiving head BL is used to calculate the sound wave transmission rate, and the propagation distance and the measurement distance are further calculated in combination with the transmission time. The underwater target ranging device based on the ultrasonic time difference method is easy to use and has accurate measurement results.

[0119] Example 3.

[0120] A method for underwater target ranging based on ultrasonic time difference method is implemented by using the underwater target ranging device based on ultrasonic time difference method of embodiment 1, and comprises the following steps:

[0121] Step 1: Install the main test mechanism at the measuring end and the tested mechanism at the tested end.

[0122] Step 2, the main measuring mechanism transmits the acoustic scanning signal I, and the measured mechanism tracks the acoustic scanning signal I. When the measured mechanism tracks the acoustic scanning signal I, it stops tracking the acoustic scanning signal I and sends the acoustic scanning signal II to the main measuring mechanism 1, and then the main measuring mechanism tracks the acoustic scanning signal II. When the main measuring mechanism 1 tracks the acoustic scanning signal II, the direction calibration is completed. The specific steps of the main measuring mechanism 1 and the measured mechanism 2 are the same as the specific steps of the acoustic scanning signal tracking in Example 1, which will not be repeated here.

[0123] Step 3: The transmitter A of the main measuring mechanism transmits a measuring sound wave signal to the measured mechanism and starts timing at the same time.

[0124] Step 4: After the receiving head BS of the measured structure receives the measuring sound wave signal, a delay of T d , the transmitter B sends an echo signal to the main measuring mechanism, where T d is the device delay constant.

[0125] Step 5: When the receiving head AL of the main measuring mechanism receives the echo signal, record the receiving time T L When the receiving head AS receives the echo signal, the receiving time T is recorded. S .

[0126] Step 6: Calculate the propagation speed V of the sound wave at the current temperature and water quality, and V = L 测 / (T S -T L ), where L 测 is the distance between receiving head AS and receiving head AL.

[0127] Step 7: Get the distance L between the measuring end and the measured end, and L = 0.5V × (T S -T d ).

[0128] It should be noted that the device delay constant T d The device is measured only once before it is used. The measurement method is: place the main measuring mechanism and the measured mechanism of the device at a distance L between the main measuring end and the measured end. SP The position of the parameter L SP In the input device, the main measuring end performs signal tracking and transmission. According to the formula, the propagation speed V = L 测 / (T S -T L ) Calculate the propagation speed V at this time 1 , then calculate the propagation time T SP =L SP / V 1 The final distance measuring device delay constant T d =T s -2T SP , then Td Reserved in a dedicated device as a device constant.

[0129] The underwater target ranging method based on the ultrasonic time difference method is easy to operate, the device is automatically aligned, and manpower is saved. It is not affected by the reflection surface of the measured end. The ultrasonic power used to measure the same distance is small, and the harm to marine life is small.

[0130] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the present invention.

Claims

1. An underwater target ranging device based on ultrasonic time difference method, characterized in that: A main testing mechanism and a tested mechanism are provided, the main testing mechanism and the tested mechanism are installed facing each other, and a signal connection is provided between the main testing mechanism and the tested mechanism; The main measuring mechanism is used to send a measuring sound wave signal to the measured mechanism, receive an echo signal sent by the measured mechanism, adjust the signal sending and receiving directions, and calculate and output the distance between the main measuring mechanism and the measured mechanism; The measured mechanism is used to send an echo signal to the main measuring mechanism, receive a measuring sound wave signal sent by the main measuring mechanism, and adjust the signal sending and receiving directions; The main measuring mechanism is also provided with a regulating assembly A, a horizontal frame A and an acoustic wave frame A, wherein the horizontal frame A is rotatably connected to the regulating assembly A, and the acoustic wave frame A is rotatably connected to the horizontal frame A; The acoustic wave stand A is also provided with a bracket AS, a light shielding sheet AS, a receiving head AH, a tracking head, and a receiving head AV. The side of the bracket AS provided with the light shielding sheet AS is defined as the back side of the bracket AS. The tracking head, the receiving head AH, the receiving head AV, the transmitting head A, the receiving head AS, and the fixing points of the measuring rod are respectively located on the front side of the bracket AS. The end of the receiving head AH away from the bracket AS is equipped with a receiving cover AH, and the end of the receiving head AV away from the bracket AS is equipped with a receiving cover AV. The connecting line of the light shielding sheet AS, the fixing point of the measuring rod, the receiving head AS, the transmitting head A, the receiving head AH, the tracking head, and the receiving head AV is parallel to the axis of the bracket AS. The measured mechanism is provided with a regulating component B, a horizontal frame B and an acoustic wave frame B, the regulating component B is rotatably connected to the horizontal frame B, the horizontal frame B is rotatably connected to the vertical frame B, and the vertical frame B is rotatably connected to the acoustic wave frame B; The acoustic wave stand B is also provided with a bracket BS, a light shielding sheet BS, a receiving head BV, a receiving head BH, and a receiving head BL. The side of the bracket BS provided with the light shielding sheet BS is defined as the back side of the bracket BS. The receiving head BV, the receiving head BH, the transmitting head B, the receiving head BS, and the receiving head BL are respectively assembled on the front side of the bracket BS. The end of the receiving head BV away from the bracket BS is equipped with a receiving cover BV, and the end of the receiving head BH away from the bracket BS is equipped with a receiving cover BH. The connecting line of the light shielding sheet BS, the receiving head BV, the receiving head BH, the transmitting head B, the receiving head BS, and the receiving head BL is parallel to the axis of the bracket BS. The receiving cover AH is provided with a slot AH parallel to the axis of the bracket AS, and the receiving cover AS is provided with a slot AV perpendicular to the axis of the bracket AS; The receiving cover BH is provided with a groove BH parallel to the axis of the bracket BS, and the receiving cover BV is provided with a groove BV perpendicular to the axis of the bracket BS.

2. The underwater target ranging device based on ultrasonic time difference method according to claim 1 is characterized in that: The main measuring mechanism is provided with a measuring sound wave signal transmitting mechanism and an echo signal receiving mechanism; The measured mechanism is provided with a measuring sound wave signal receiving mechanism and an echo signal transmitting mechanism; The measuring sound wave signal transmitting mechanism is connected to the measuring sound wave signal receiving mechanism by signal, and the echo signal transmitting mechanism is connected to the echo signal receiving mechanism by signal.

3. The underwater target ranging device based on ultrasonic time difference method according to claim 2 is characterized in that: The main measuring mechanism is provided with a measuring rod for obtaining the transmission speed of sound waves; The measuring sound wave signal transmitting mechanism is configured as a transmitting head A, and the echo signal receiving mechanism is configured as a receiving head AL for first receiving the echo signal and a receiving head AS for later receiving the echo signal, and the receiving head AL and the receiving head AS are arranged at different ends of the measuring rod; The measurement sound wave signal receiving mechanism is configured as a receiving head BS, and the echo signal transmitting mechanism is configured as a transmitting head B.

4. The underwater target ranging device based on ultrasonic time difference method according to claim 3 is characterized in that: The transmitting head A, the measuring rod, the receiving head AL and the receiving head AS are fixedly assembled on the sonic wave frame A; The regulating component A, the horizontal frame A and the acoustic wave frame A are electrically connected; The control component A is provided with a smart box A, a magnet A, a motor AH, an antenna, a photoelectric gate AHR, and a photoelectric gate AHL; The side of the smart box A on which the antenna is provided is defined as the front side of the smart box A. The front side of the smart box A is also provided with a keyboard and a display screen, and the keyboard and the display screen are both fixedly assembled with the smart box; The magnet A is mounted on any side of the smart box A, the motor AH, the photoelectric gate AHR and the photoelectric gate AHL are mounted on the back of the smart box A, the horizontal frame A is provided with a bracket AH, a light shielding sheet AH, a motor AV, a photoelectric gate AVR and a photoelectric gate AVL, and the side of the bracket AH provided with the light shielding sheet AH is defined as the back of the bracket AH, and the motor AV, the photoelectric gate AVR and the photoelectric gate AVL are mounted on the front of the bracket AH.

5. The underwater target ranging device based on ultrasonic time difference method according to claim 4 is characterized in that: The motor AH is provided with a rotation axis AH, and the motor AV is provided with a rotation axis AV; The light blocking sheet AH and the light blocking sheet AS are both L-shaped structures. A rotating shaft hole AH is provided on the side of the bracket AH facing the corner of the light blocking sheet AH, and a rotating shaft hole AS is provided on the side of the bracket AS facing the corner of the light blocking sheet AS. The rotating shaft AH is assembled in the rotating shaft hole AH, and the rotating shaft AS is assembled in the rotating shaft hole AS.

6. The underwater target ranging device based on ultrasonic time difference method according to claim 5 is characterized in that: The receiving head BS and the transmitting head B are arranged on the sonic frame B; The regulating assembly B, the horizontal frame B, the vertical frame B and the acoustic wave frame B are electrically connected; The control component B is provided with a smart box B, a magnet B, a motor BH, a photoelectric gate BHR, a photoelectric gate BHL and a switch; The side of the smart box B provided with a switch is defined as the front side of the smart box B, the motor BH, the photoelectric gate BHR, and the photoelectric gate BHL are mounted on the back side of the smart box B, the magnet B is mounted on any side of the smart box B, the horizontal frame B is provided with a bracket BH, a light shielding sheet BV, a motor BV, a photoelectric gate BVR, and a photoelectric gate BVL, the side of the bracket BH provided with the light shielding sheet BV is defined as the back side of the bracket BH, the motor BV, the photoelectric gate BHR, and the photoelectric gate BHL are mounted on the back side of the bracket BH; The vertical frame B is provided with a bracket BA, a light-blocking sheet BA, a motor BA, a photoelectric gate BAR and a photoelectric gate BAL. The side of the bracket BA provided with the light-blocking sheet BA is defined as the back side of the bracket BA. The motor BA, the photoelectric gate BAR and the photoelectric gate BAL are assembled on the back side of the bracket BA.

7. The underwater target ranging device based on ultrasonic time difference method according to claim 6 is characterized in that: The motor BH is provided with a rotating shaft BH, the motor BV is provided with a rotating shaft BV, and the motor BA is provided with a rotating shaft BA; The light blocking sheet BV, the light blocking sheet BA and the light blocking sheet BS are all L-shaped structures. A rotating rod BH is provided on the side of the bracket BH facing the corner of the light blocking sheet BV, a rotating rod BA is provided on the side of the bracket BA facing the corner of the light blocking sheet BA, and a rotating shaft hole BS is provided on the side of the bracket BS facing the corner of the light blocking sheet BS; The rotating rod BH is assembled with the rotating shaft BH, the rotating rod BA is assembled with the rotating shaft BV, and the rotating shaft BA is assembled in the rotating shaft hole BS.

8. The underwater target ranging device based on ultrasonic time difference method according to claim 4 or 5, characterized in that: The photoelectric gate AHR and the photoelectric gate AHL have an included angle of 90°, and the opening of the included angle faces away from the motor; The photoelectric gate BHR and the photoelectric gate BHL have an included angle of 90°, with the opening of the included angle facing away from the motor. The photogate AVR and the photogate AVL are assembled in parallel, the photogate BVR and the photogate BVL are assembled in parallel, and the photogate BAR and the photogate BAL are assembled in parallel; The light shield AH is matched with the photoelectric gate AHR and the photoelectric gate AHL, the light shield AS is matched with the photoelectric gate AVR and the photoelectric gate AVL, the light shield BH is matched with the photoelectric gate BHR and the photoelectric gate BHL, the light shield BA is matched with the photoelectric gate BVR and the photoelectric gate BVL, and the light shield BS is matched with the photoelectric gate BAR and the photoelectric gate BAL.

9. The underwater target ranging device based on ultrasonic time difference method according to claim 6, characterized in that: The smart box A is internally provided with a power supply, a single-chip microcomputer A of model STC89C52 and a wireless communication device. The single-chip microcomputer A is used to receive control signals of a keyboard and switch signals of photoelectric gates AHR, AHL, AVR, AVL, receiving heads AH, AV, AS and AL. The single-chip microcomputer is also used to send control signals of a tracking head, a transmitting head A, a motor AH and an AV. The single-chip microcomputer is also used to calculate the distance between a main measuring mechanism and a measured mechanism and send the calculated distance to a display screen for display output; The smart box B is internally provided with a power supply, a single-chip microcomputer B of model STC89C52 and a wireless communication device. The single-chip microcomputer B is used to receive switching signals of photogate BHR, photogate BHL, photogate BVR, photogate BAR, photogate BAL, receiving head BH, receiving head BV, receiving head BS and receiving head BL. The single-chip microcomputer B is also used to send control signals of transmitting head B, motor BH, motor BV and motor BV.

10. A method for underwater target ranging based on ultrasonic time difference method, using the underwater target ranging device based on ultrasonic time difference method as claimed in any one of claims 1 to 9, characterized in that: The steps include: Step 1: Install the main test mechanism at the measuring end and the tested mechanism at the tested end; Step 2: The main measuring mechanism transmits an acoustic scanning signal I, and the measured mechanism tracks the acoustic scanning signal I. When the measured mechanism tracks the acoustic scanning signal I, it stops tracking the acoustic scanning signal I and sends an acoustic scanning signal II to the main measuring mechanism, and then the main measuring mechanism tracks the acoustic scanning signal II. When the main measuring mechanism tracks the acoustic scanning signal II, the direction calibration is completed; Step 3: The transmitter A of the main measuring mechanism transmits a measuring sound wave signal to the measured mechanism, and starts timing at the same time; Step 4: After the receiving head BS of the measured structure receives the measuring sound wave signal, a delay of T d , the transmitter B sends an echo signal to the main measuring mechanism, where T d is the device delay constant; Step 5: When the receiving head AL of the main measuring mechanism receives the echo signal, record the receiving time T L When the receiving head AS receives the echo signal, the receiving time T is recorded. S ; Step 6: Calculate the propagation speed V of the sound wave at the current temperature and water quality, and V=L 测 / (T S -T L ), where L 测 is the distance between receiving head AS and receiving head AL; Step 7: Get the distance L between the measuring end and the measured end, and L=0.5V×(T S -T d ).

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