An automatic positioning device and positioning method based on sound waves

Abstract

An automatic positioning device based on sound waves is provided with a to-be-measured end, a data end and three fixed ends, the three fixed ends are located on the same horizontal plane, the to-be-measured end is arranged below the horizontal plane of the three fixed ends, and the to-be-measured end and the data end are both signal-connected with the fixed ends. The to-be-measured end is used for sending a sound wave signal to the fixed end. The fixed end is used for receiving the sound wave signal sent by the to-be-measured end and sending an angle measurement signal to the data end. The data end is used for receiving the angle measurement signal sent by the fixed end and calculating the position coordinates of the to-be-measured end. The to-be-measured end is provided with a sound wave mounting disc, and the upper semicircle of the sound wave emitting disc is uniformly provided with six sound wave emitting heads. The fixed end is provided with a first sensor used for rotating to receive the sound wave signal along the horizontal plane and a second sensor used for rotating to receive the sound wave signal along the vertical plane. The automatic positioning device based on sound waves can realize accurate positioning in a local range and a special environment, and the positioning process is stable.

Description

TECHNICAL FIELD

[0001] The present application relates to the underwater positioning technology field, in particular to an automatic positioning device and positioning method based on sound waves. BACKGROUND

[0002] The ocean area of the earth is about 71% of the earth's surface area, and the ocean plays a very important role in our production and life. Underwater robots play an important role in developing ocean resources, protecting the ocean and seeking new development of the ocean, and underwater robots can replace manual underwater operations and underwater monitoring and other work.

[0003] The underwater robot needs to be positioned when working, and the existing method for positioning the underwater robot is to position it by GPS or Beidou positioning system, which can be positioned in real time. However, GPS or Beidou positioning system uses electromagnetic waves for positioning and navigation, and the signal received by the underwater robot is unstable due to the exponential attenuation of electromagnetic waves in water, so GPS or Beidou positioning system is difficult to achieve accurate positioning of the underwater robot in a special environment in a local area.

[0004] Therefore, in view of the deficiencies of the prior art, it is necessary to provide an automatic positioning device and positioning method based on sound waves to overcome the deficiencies of the prior art. SUMMARY

[0005] One of the purposes of the present application is to provide an automatic positioning device based on sound waves to avoid the deficiencies of the prior art, which is stable and can achieve accurate positioning in a special environment in a local area.

[0006] The above-mentioned purposes of the present application are achieved by the following technical measures.

[0007] An automatic positioning device based on sound waves is provided, which is provided with a to-be-measured end, a data end and three fixed ends, the three fixed ends are located on the same horizontal plane, the to-be-measured end is arranged below the horizontal plane of the three fixed ends, and the to-be-measured end and the data end are both signal connected with the fixed end.

[0008] The to-be-measured end is used for sending a sound wave signal to the fixed end.

[0009] The fixed end is used for receiving the sound wave signal sent by the to-be-measured end and sending an angle measurement signal to the data end.

[0010] The data end is used for receiving the angle measurement signal sent by the fixed end and calculating the position coordinates of the to-be-measured end.

[0011] Preferably, the to-be-measured end is provided with a sound wave mounting disc, and the upper half of the sound wave emitting disc is uniformly provided with six sound wave emitting heads.

[0012] Preferably, the fixed end is provided with a first sensor for receiving acoustic wave signals along a horizontal plane and a second sensor for receiving acoustic wave signals along a vertical plane.

[0013] Preferably, the first sensor is provided with an acoustic wave sleeve, a receiving head and a compass, the acoustic wave sleeve is provided with a mounting groove, and the receiving head and the compass are fixedly assembled at the bottom of the mounting groove.

[0014] Preferably, the second sensor is provided with an acoustic wave sleeve, a receiving head and an angle instrument, the acoustic wave sleeve is provided with a receiving groove, and the receiving head and the angle instrument are fixedly assembled at the bottom of the receiving groove.

[0015] Preferably, the fixed end is further provided with a positioning column, a floating platform, a bracket and an intelligent module, the floating platform and the bracket are sleeved on the positioning column, the bracket is fixedly connected with the floating platform, the intelligent module is fixedly assembled on the floating platform, and the receiving head, the compass and the angle instrument are signal-connected with the intelligent module.

[0016] Preferably, the bracket is provided with a sleeve column, a first mounting arm and a second mounting arm, the sleeve is sleeved on the positioning column, the floating platform is fixedly connected with the sleeve column, the first sensor is fixedly connected with the first mounting arm, and the second sensor is fixedly connected with the second mounting arm.

[0017] The tail end of the first mounting arm and the second mounting arm is provided with a current collecting ring and a motor, the current collecting ring is fixedly connected with the mounting arm, and the motor is fixedly connected with the current collecting ring.

[0018] The first sensor is fixedly connected with the motor of the first mounting arm, and the second sensor is fixedly connected with the motor of the second mounting arm.

[0019] Preferably, the to-be-measured end is further provided with a fixing frame, the fixing frame is provided with a connecting rod and a fixing disc connected with the to-be-measured object, and the fixing disc and the acoustic wave mounting disc are fixedly assembled at both ends of the connecting rod.

[0020] The automatic positioning device based on sound waves of the present application is provided with a to-be-measured end, a data end and three fixed ends, the three fixed ends are located on the same horizontal plane, the to-be-measured end is arranged below the horizontal plane of the three fixed ends, and the to-be-measured end and the data end are both signal-connected with the fixed ends; the to-be-measured end is used for sending a sound wave signal to the fixed end; the fixed end is used for receiving the sound wave signal sent by the to-be-measured end and sending an angle measurement signal to the data end; and the data end is used for receiving the angle measurement signal sent by the fixed end and calculating the position coordinates of the to-be-measured end. The fixed end determines the angle relationship of the to-be-measured end in the space coordinate system established based on the three fixed ends and the to-be-measured end by receiving the sound wave signal of the to-be-measured end, and the data end can calculate the position coordinates of the to-be-measured end in the established space coordinate system according to the angle relationship and the distance between the three fixed ends, so as to realize the positioning of the to-be-measured end. The automatic positioning device based on sound waves of the present application can realize accurate positioning in a local range of special environment, and does not need to rely on a positioning system such as GPS or Beidou during the positioning process, and the positioning is stable.

[0021] Another purpose of the present application is to avoid the shortcomings of the prior art and provide an automatic positioning method based on sound waves, which can realize accurate positioning in a local range of special environment, and the positioning process is stable.

[0022] The above purpose of the present application is realized by the following technical measures.

[0023] An automatic positioning method based on sound waves is provided, which is carried out by using the above automatic positioning device based on sound waves.

[0024] Preferably, the following steps are included:

[0025] S1: establishing a space coordinate system;

[0026] Specifically, the point where the first fixed end is located is defined as point A, the point where the second fixed end is located is defined as point B, the third fixed end is arranged in the positive east direction of point A, the point where the third fixed end is located is defined as point C, and the point where the to-be-measured end is located is defined as point O. The horizontal plane formed by points A, B and C is the XY plane of the coordinate system. Then, point A is the coordinate origin, point B is a point on the X axis, point C is a point on the Y axis, and point O is the positioning coordinate point. The space coordinate system is established;

[0027] S2: measuring the distance between points A and B and recording it as L, and measuring the distance between points A and C and recording it as L';

[0028] S3: recording the projection point of point O on the XY plane as O XY , recording the projection point of point O on the XZ plane as O XZ , recording the projection point of point O on the X axis as O XY , and recording the projection point of point O on the Y axis as O X . XY Y ​Point O XY The angle ∠1, O between A and the X axis XY The angle ∠2, O between B and the X axis XZ The angle ∠3, O between A and the X axis XY The angle ∠4 between C and the Y axis

[0029] S4: Define the reading of the compass at the fixed end of point A as ∠1', the reading of the compass at the fixed end of point B as ∠2', the reading of the angle gauge at the fixed end of point A as ∠3', and the reading of the compass at the fixed end of point C as ∠4';

[0030] The measurement of ∠1', ∠2', ∠3' and ∠4' includes the following steps:

[0031] S41: Control the motor at the fixed end of point A to drive the first sensor to rotate. When the receiving head of the first sensor receives the sound wave signal, the intelligent module attaches the reading of the compass to ∠1'. Control the motor to drive the second sensor to rotate. When the receiving head of the second sensor receives the sound wave signal, the intelligent module attaches the reading of the angle gauge to ∠3';

[0032] S42: Control the motor at the fixed end of point B to drive the first sensor to rotate. When the receiving head of the first sensor receives the sound wave signal, the intelligent module attaches the reading of the compass to ∠2';

[0033] S43: Control the motor at the fixed end of point C to drive the first sensor to rotate. When the receiving head of the first sensor receives the sound wave signal, the intelligent module attaches the reading of the compass to ∠4';

[0034] S5: The intelligent module sends ∠1', ∠2', ∠3' and ∠4' to the data end;

[0035] S6: The data end calculates the position of the coordinate (X, Y, Z) of point O according to the angle data of ∠1', ∠2', ∠3' and ∠4' sent by the intelligent module at the fixed end of points A, B and C. The operation steps of the data end are as follows:

[0036] S61: Let O X The distance between A and O is L X , O X O XY The distance between B and O is L Y , O X O XZ The distance between C and O is L Z , and point (X, Y, Z) is the coordinate of point O in the space coordinate system;

[0037] S62: Calculate O XY Fall in the quadrant position (X, Y) of the XY horizontal plane coordinate, and the calculation cases include:

[0038] I. When ∠1' < 90°, the data terminal performs the following operations:

[0039] 1. Calculate ∠1 and ∠2, where ∠1 = 90° - ∠1', and ∠2 = ∠2' - 270°.

[0040] 2. Calculate the values of L Y and L X according to equations (1) and (2).

[0041]

[0042]

[0043] 3. From equations (1) and (2), we have: L Y = L X × tan ∠1.

[0044] 4. Assign the value of L X to X, and the value of L Y to Y.

[0045] II. When ∠1' = 90°, the data terminal performs the following operations:

[0046] 1. Calculate ∠4, where ∠4 = 180° - ∠4'.

[0047] 2. Calculate the value of L X according to equation (3).

[0048]

[0049] 3. From equation (3), we have L X = L' × tan ∠4.

[0050] 4. Assign the value of L X to X, and 0 to Y. Since 0 XY falls on the X-axis of the XY horizontal coordinate system, L Y = 0,

[0051] III. When 90° < ∠1' ≤ 180°, the data terminal performs the following operations:

[0052] 1. Calculate ∠1 and ∠2, where ∠1 = ∠1' - 90°, and ∠2 = 270° - ∠2'.

[0053] 2. Calculate the values of L Y and L X according to equations (1) and (2).

[0054]

[0055]

[0056] 3. From the formula (1) (2) (3) we can get: L Y = L X x tan ∠1.

[0057] 4. Assign the value of L X to X, and the value of -L Y to Y.

[0058] IV. When 180° < ∠1' < 270°, the data terminal performs the following operations:

[0059] 1. Calculate ∠1 and ∠2, where ∠1 = 270° - ∠1', and ∠2 = 270° - ∠2'.

[0060] 2. Calculate the values of L Y and L X according to the formula (1) and formula (2).

[0061]

[0062]

[0063] 3. From the formula (1) (2) (3) we can get: L Y = L X x tan ∠1.

[0064] 4. Assign the value of -L X to X, and the value of -L Y to Y.

[0065] V. When ∠1' = 270°, the data terminal performs the following operations:

[0066] 1. Calculate ∠4, ∠4 = ∠4' - 180°.

[0067] 2. Calculate the value of L X according to the formula (3).

[0068]

[0069] 3. From the formula (3) we can get L X = L' x tan ∠4.

[0070] 4. Assign the value of -L X to X, and 0 to Y.

[0071] VI. When 270° < ∠1' ≦ 360°, the data terminal performs the following operations:

[0072] 1. Calculate ∠1, ∠2, where ∠1 = ∠1' - 270° and ∠2 = ∠2' - 270°.

[0073] 2. Calculate the value of L Y and L X according to equation (1) and equation (2).

[0074]

[0075]

[0076] 3. From equation (1) equation (2) equation (3) we can get: L Y = L X × tan ∠1.

[0077] 4. Assign the value of -L X to X and the value of L Y to Y.

[0078] S63: Calculate the depth Z of O XY falling into water.

[0079] 1. Calculate ∠3, ∠3 = ∠3'.

[0080] 2. Calculate the value of L Z according to equation (4).

[0081]

[0082] 3. From equation (4) equation (5) we can get: L Z = L X × tan ∠3.

[0083] 4. Assign the value of -L Z to Z.

[0084] S64: Couple (X, Y) in step S63 and Z in step S64 to form the coordinate (X, Y, Z) of the position of O point.

[0085] The automatic positioning method based on sound waves of the present application is carried out by an automatic positioning device based on sound waves, which is provided with a to-be-measured end, a data end and three fixed ends, the three fixed ends are located on the same horizontal plane, the to-be-measured end is arranged below the horizontal plane of the three fixed ends, and the to-be-measured end and the data end are both signal-connected with the fixed ends; the to-be-measured end is used for sending a sound wave signal to the fixed end; the fixed end is used for receiving the sound wave signal sent by the to-be-measured end and sending an angle measurement signal to the data end; and the data end is used for receiving the angle measurement signal sent by the fixed end and calculating the position coordinates of the to-be-measured end. The fixed end determines the angle relationship of the to-be-measured end in the space coordinate system established based on the three fixed ends and the to-be-measured end by receiving the sound wave signal of the to-be-measured end, and the data end can calculate the position coordinates of the to-be-measured end in the established space coordinate system according to the angle relationship and the distance between the three fixed ends, so as to realize the positioning of the to-be-measured end. The automatic positioning method based on sound waves of the present application can accurately position in a local range and special environment, and does not need to rely on a positioning system such as GPS or Beidou during the positioning process, and the positioning is stable. BRIEF DESCRIPTION OF DRAWINGS

[0086] The present application is further described by means of the accompanying drawings, but the content of the drawings does not constitute any limitation on the present application.

[0087] Figure 1 is a structural schematic diagram of an automatic positioning device based on sound waves of the present application.

[0088] Figure 2 is a structural schematic diagram of a to-be-measured end of an automatic positioning device based on sound waves of the present application.

[0089] Figure 3 is a structural schematic diagram of a fixed end of an automatic positioning device based on sound waves of the present application.

[0090] Figure 4 is a structural schematic diagram of a first sensor of an automatic positioning device based on sound waves of the present application.

[0091] Figure 5 is a structural schematic diagram of a second sensor of an automatic positioning device based on sound waves of the present application.

[0092] Figure 6 is an assembly relationship schematic diagram of a support and a floating platform of an automatic positioning device based on sound waves of the present application.

[0093] Figure 7 is a space coordinate relationship schematic diagram established in Example 3.

[0094] Figure 8 is an XY horizontal plane schematic diagram of a space coordinate system in Example 3, wherein Figure 8 (a) is point O XYa diagram in the second quadrant of the XY horizontal plane coordinate system, Figure 8 (b) is point O XY a diagram in the first quadrant of the XY horizontal plane coordinate system, Figure 8 (c) is point O XY a diagram in the third quadrant of the XY horizontal plane coordinate system, Figure 8 (d) is point O XY a diagram in the fourth quadrant of the XY horizontal plane coordinate system, Figure 8 (e) is point O XY a diagram in the negative direction of the X axis of the XY horizontal plane coordinate system, Figure 8 (f) is point O XY a diagram in the positive direction of the X axis of the XY horizontal plane coordinate system.

[0095] Figure 9 is an XZ vertical plane diagram of the spatial coordinate system in Example 3.

[0096] In the Figures 1 to 9 , comprising:

[0097] to be measured end 100, sound wave mounting disc 110, sound wave emitting head 120, connecting rod 130, fixing disc 140, fixed end 200, positioning stand 210, floating platform 230, support 240, intelligent module 250,

[0098] first sensor 260, second sensor 261, sound wave sleeve 262, receiving groove 263, receiving head 264, compass 265, angle meter 266,

[0099] sleeve column 241, first mounting arm 242, second mounting arm 243, current collector ring 244, motor 245,

[0100] data end 300. DETAILED DESCRIPTION

[0101] The application is further illustrated in combination with the following examples.

[0102] Example 1.

[0103] An automatic positioning device based on sound waves, such as Figure 1As shown, the to-be-measured end 100, the data end 300 and three fixed ends 200 are arranged, the three fixed ends 200 are located on the same horizontal plane, the to-be-measured end 100 is arranged below the horizontal plane where the three fixed ends 200 are located, and the to-be-measured end 100 and the data end 300 are both signal-connected with the fixed end 200. The to-be-measured end 100 is used for sending an acoustic wave signal to the fixed end 200. The fixed end 200 is used for receiving the acoustic wave signal sent by the to-be-measured end 100 and sending an angle measurement signal to the data end 300. The data end 300 is used for receiving the angle measurement signal sent by the fixed end 200 and calculating the position coordinates of the to-be-measured end 100. The fixed end 200 determines the angle measurement signal according to the time when the acoustic wave signal sent by the to-be-measured end 100 is received, and the data end 300 can calculate the position coordinates of the to-be-measured end 100 according to the distance and the angle measurement signal between the three fixed ends 200, so that accurate positioning in a local range in a special environment can be realized. In addition, the positioning process does not need to use a navigation system such as GPS and Beidou, but is based on acoustic wave signal positioning, and the positioning process is stable.

[0104] The automatic positioning device based on acoustic waves in the application is used, three fixed ends 200 are installed on the water surface of a water area where an object to be positioned is located, the distance between the three fixed ends 200 is determined according to the activity range of the object to be positioned, and the activity range of the object to be positioned is located between the three fixed ends 200. The to-be-measured end 100 is fixedly connected with the object to be positioned. The data end 300 can be supervised by a measurement personnel, and the data end 300 is composed of a computer, a communication module and a matching circuit and the like, which are all well-known technologies in the field and will not be described here.

[0105] As shown in Figure 2 The to-be-measured end 100 is provided with an acoustic wave mounting disc 110, and the upper semicircle of the acoustic wave emitting disc is uniformly provided with six acoustic wave emitting heads 120. The acoustic wave emitting heads 120 in the embodiment adopt underwater horizontal nondirectional underwater acoustic transducers. The transducer is horizontal and nondirectional, the divergence angle is 35°, and the included angle of each acoustic wave emitting head 120 is 30°, so that the acoustic waves sent by the acoustic wave mounting disc 110 form 180° omnidirectional no dead angle, and it is ensured that the fixed end 200 can receive the acoustic wave signal sent by the acoustic wave mounting disc 110.

[0106] As shown in Figure 3 The fixed end 200 is provided with a first sensor 260 for rotating to receive the acoustic wave signal along the horizontal plane and a second sensor 261 for rotating to receive the acoustic wave signal along the vertical plane. The first sensor 260 can measure the included angle between the to-be-measured end 100 and the fixed end 200 in the horizontal direction, and the second sensor 261 can measure the included angle between the to-be-measured end 100 and the fixed end 200 in the vertical direction.

[0107] As shown in Figure 4As shown, the first sensor 260 is provided with a sound wave sleeve 262, a receiving head 264 and a compass 265, the sound wave sleeve 262 is provided with a mounting groove, and the receiving head 264 and the compass 265 are both fixedly assembled at the bottom of the mounting groove. Only when the mounting groove is located at the plane where the to-be-measured end 100 is located, i.e. the receiving head 264 is located at the plane where the to-be-measured end 100 is located, can the receiving head 264 receive the sound wave signal sent by the to-be-measured end 100. If the receiving head 264 is not located at the same plane as the to-be-measured end 100, the sound wave signal sent by the to-be-measured end 100 will be blocked by the sound wave sleeve 262. In the embodiment, the compass 265 is selected as a GY-26 electronic compass module, but is not limited to the GY-26 electronic compass module.

[0108] As shown in the figure, Figure 5 As shown, the second sensor 261 is provided with a sound wave sleeve 262, a receiving head 264 and an angle instrument 266, the sound wave sleeve 262 is provided with a receiving groove 263, and the receiving head 264 and the angle instrument 266 are both fixedly assembled at the bottom of the receiving groove 263. In the embodiment, the angle instrument 266 is selected as an RS485 tilt angle instrument, but is not limited to the RS485 tilt angle instrument.

[0109] In the embodiment, the fixed end 200 is further provided with a positioning stand 210, a floating platform 230, a bracket 240 and an intelligent module 250, the floating platform 230 and the bracket 240 are both sleeved on the positioning stand 210, the bracket 240 is fixedly connected with the floating platform 230, the intelligent module 250 is fixedly assembled on the floating platform 230, and the receiving head 264, the compass 265 and the angle instrument 266 are all signal-connected with the intelligent module 250. The intelligent module 250 is internally provided with a single-chip microcomputer AT89C52, a communication module, a control module and a matching circuit, etc. In the embodiment, the communication module adopts a lora wireless remote communication mature product module, but is not limited to the lora wireless remote communication mature product module. The connection relationship between the single-chip microcomputer AT89C52, the communication module, the control module and the matching circuit, etc. are all well-known technologies in the field, and will not be described here.

[0110] In the embodiment, based on the conventional direction of the XY coordinate system (the north is located at the positive direction of the Y axis, and the east is located at the positive direction of the X axis), when the positioning stand 210 is installed, the positioning stand 210 of the first fixed end 200 is generally installed at a southwest corner of the working water surface (may be located at the southwest corner of the three fixed points according to the actual situation), the positioning stand 210 of the second fixed end 200 is generally installed at the east direction of the first positioning stand 210, and the positioning stand 210 of the third fixed end 200 is generally installed at the north direction of the first positioning stand 210.

[0111] In the embodiment, the support 240 is provided with a sleeve column 241, a first mounting arm 242 and a second mounting arm 243, the sleeve column 241 is sleeved on the positioning column 210, the floating platform 230 is fixedly connected with the sleeve column 241, the first sensor 260 is fixedly connected with the first mounting arm 242, and the second sensor 261 is fixedly connected with the second mounting arm 243. The floating platform 230 is in contact with the water surface, the sleeve column 241 is lifted and lowered along the positioning column 210 under the action of the buoyancy of the floating platform 230, and drives the first sensor 260 and the second sensor 261 to move up and down along with the water level.

[0112] In the embodiment, the to-be-measured end 100 is further provided with a fixing frame, the fixing frame is provided with a connecting rod 130 and a fixing disc 140 connected with the to-be-measured object, and the fixing disc 140 and the sound wave mounting disc 110 are fixedly assembled at two ends of the connecting rod 130.

[0113] It should be noted that the motor 245 of the fixed end 200 can continuously rotate, real-time receive the sound wave signal of the to-be-measured end 100 and send the angle measurement signal to the data end 300, the data end 300 calculates the spatial position coordinates of the to-be-measured end 100 in real time, can real-time position the to-be-measured target object and obtain the moving track of the to-be-measured object, and the positioning process does not need to depend on the GPS or Beidou system direction calibration method, which saves time and labor and is stable.

[0114] The automatic positioning device based on sound waves receives the angle measurement signal of the to-be-measured end 100 relative to the fixed end 200 through the fixed end 200 receiving the sound wave signal sent by the to-be-measured end 100, and then calculates the spatial position coordinates of the to-be-measured end 100 according to the angle measurement signal and the distance between the three fixed ends 200, realizes the positioning of the to-be-measured end 100, can realize accurate positioning in a local range of a special environment, uses sound wave signals for positioning, and the positioning process is stable. It does not need to depend on the external GPS and Beidou system direction calibration method, which saves time and labor, and can obtain the moving track of the to-be-measured object.

[0115] Embodiment 2.

[0116] An automatic positioning device based on sound waves, other features are the same as embodiment 1, the difference is that, as shown in Figure 6 The tail ends of the first mounting arm 242 and the second mounting arm 243 are provided with a current collecting ring 244 and a motor 245, the current collecting ring 244 is fixedly connected with the mounting arm, the motor 245 is fixedly connected with the current collecting ring 244, the first sensor 260 is fixedly connected with the motor 245 of the first mounting arm 242, and the second sensor 261 is fixedly connected with the motor 245 of the second mounting arm 243. The motor 245 is used to drive the first sensor 260 and the second sensor 261 to rotate, and the current collecting ring 244 can solve the winding problem between the motor 245 and the sensor.

[0117] This acoustic-based automatic positioning device can achieve precise positioning in special local environments. The positioning process is stable and does not involve cable tangling.

[0118] Example 3.

[0119] An automatic positioning method based on sound waves, using any one of the automatic positioning devices based on sound waves as described in Examples 1 and 2, includes the following steps:

[0120] S1: Establish a spatial coordinate system.

[0121] Specifically, the location of the first fixed end 200 is defined as point A, the location of the second fixed end 200 is defined as point B, placed due east of point A, and the location of the third fixed end 200 is defined as point C, placed due north of point A. The location of the end to be measured 100 is defined as point O. The horizontal plane formed by points A, B, and C is used as the XY plane of the coordinate system. Therefore, point A is the origin, point B is a point on the X-axis, point C is a point on the Y-axis, and point O is the positioning coordinate point, establishing a spatial coordinate system. The spatial coordinate system established in this embodiment is as follows: Figure 7 As shown. Placing the second fixed end 200 due east of the first fixed end 200 and the third fixed end 200 due north of the first fixed end 200 simplifies the establishment of the spatial coordinate system and facilitates angle measurement.

[0122] S2: The distance between points A and B is measured and recorded as L, and the distance between points A and C is measured and recorded as L'.

[0123] S3: Let O be the projection point of point O onto the XY plane. XY Point O, the projection of point O onto the XZ plane is O XZ Point, O XY The projection point of the point on the X-axis is O. X Point, O XY The projection of point O onto the Y-axis is Y Point, O XY The angle between A and the X-axis is ∠1, O XY The angle between B and the X-axis is ∠2, O XZ The angle between A and the X-axis is ∠3, O XY The angle between C and the Y-axis is ∠4.

[0124] S4: Define the reading of compass instrument 256 at fixed end 200 at point A as ∠1', the reading of compass instrument 256 at fixed end 200 at point B as ∠1', the reading of compass instrument 256 at fixed end 200 at point C as ∠4', and the reading of angle instrument 266 at fixed end 200 at point A as ∠3'. All compass readings are relative to true north (N) as 0. 0 Or 360 0The beginning of reading, measuring the angle between the north direction and the survey line, so ∠1' is from A to O XY Reading, ∠2' is from B to O XY Reading, ∠4' is from C to O XY Reading.

[0125] Measure ∠1', ∠2', ∠3' and ∠4', including the following steps:

[0126] S41: Control the motor 245 of the fixed end 200 at point A to drive the first sensor 260 to rotate. When the receiving head 264 assembled on the first sensor 260 receives the sound wave signal, the intelligent module 250 adds the reading of the compass 265 to ∠1'. Control the motor 245 to drive the second sensor 261 to rotate. When the receiving head 264 assembled on the second sensor 261 receives the sound wave signal, the intelligent module 250 adds the reading of the angle instrument 266 to ∠3'.

[0127] S42: Control the motor 245 of the fixed end 200 at point B to drive the first sensor 260 to rotate. When the receiving head 264 assembled on the first sensor 260 receives the sound wave signal, the intelligent module 250 adds the reading of the compass 265 to ∠2'.

[0128] S43: Control the motor 245 of the fixed end 200 at point C to drive the first sensor 260 to rotate. When the receiving head 264 assembled on the first sensor 260 receives the sound wave signal, the intelligent module 250 adds the reading of the compass 265 to ∠4'.

[0129] S5: The intelligent module 250 sends ∠1', ∠2', ∠3' and ∠4' to the data end 300. Specifically, the intelligent module 250 of the fixed end 200 at point A sends the angle data of ∠1' and ∠3', the intelligent module 250 of the fixed end 200 at point B sends the angle data of ∠2', and the intelligent module of the fixed end 200 at point C sends the angle data of ∠4' to the data end 300.

[0130] S6: The data end 300 calculates the position of the coordinate (X, Y, Z) of point O according to the angle data of ∠1', ∠2', ∠3' and ∠4' sent by the fixed end 200 at points A, B and C. The operation steps of the data end 300 are as follows:

[0131] S61: Define O X A distance is L X , O X O XY Distance is L Y , O X O XZ Distance is L Z , point (L X , L Y, L Z is the coordinate of point O in the spatial coordinate system;

[0132] S62: calculating O XY falls in the first quadrant of the XY horizontal coordinate system. The data terminal 300 performs the following operations:

[0133] I. As shown in Figure 8 b, when ∠1' < 90°, O XY falls in the first quadrant of the XY horizontal coordinate system. The data terminal 300 performs the following operations:

[0134] 1. calculating ∠1 and ∠2, where ∠1 = 90° - ∠1', and ∠2 = ∠2' - 270°.

[0135] 2. calculating the values of L Y and L X according to equations (1) and (2).

[0136]

[0137]

[0138] 3. from equations (1), (2) and (3), we have: L Y = L X × tan ∠1.

[0139] 4. assigning the value of L X to X, and the value of L Y to Y.

[0140] II. As shown in Figure 8 f, when ∠1' = 90°, O XY falls on the positive direction of the X axis of the XY horizontal coordinate system. The data terminal 300 performs the following operations:

[0141] 1. calculating ∠4, ∠4 = 180° - ∠4'.

[0142] 2. calculating the value of L X according to equation (3).

[0143]

[0144] 3. from equation (3), we have L X = L' × tan ∠4.

[0145] 4. assigning the value of L X to X, and 0 to Y. Since O XY falls on the X axis of the XY horizontal coordinate system, L Y = 0,

[0146] III. For example Figure 8 As shown in d, when 90° < ∠1' ≦ 180°, O XY It falls in the fourth quadrant of the XY horizontal coordinate system. Data terminal 300 performs the following calculations:

[0147] 1. Calculate ∠1 and ∠2, where ∠1 = ∠1' - 90° and ∠2 = 270° - ∠2'.

[0148] 2. Calculate L based on equations (1) and (2). Y and L X The value of .

[0149]

[0150]

[0151] 3. From equations (1) and (2), we can obtain: L Y =L X ×tan∠1.

[0152] 4. Place L X Assign the value of -L to X, Y The value is assigned to Y.

[0153] IV. For example Figure 8 As shown in c, when 180° < ∠1' < 270°, O XY It falls in the third quadrant of the XY horizontal coordinate system. Data terminal 300 performs the following calculations:

[0154] 1. Calculate ∠1 and ∠2, where ∠1 = 270° - ∠1' and ∠2 = 270° - ∠2'.

[0155] 2. Calculate L based on equations (1) and (2). Y and L X The value of .

[0156]

[0157]

[0158] 3. From equations (1) and (2), we can obtain: L Y =L X ×tan∠1.

[0159] 4. Add -L X Assign the value of -L to X, Y The value is assigned to Y.

[0160] V. For example Figure 8e, when ∠1' = 270°, O XY falls in the negative direction of the X axis of the XY horizontal plane coordinate system. The data terminal 300 performs the following operation:

[0161] 1. Calculate ∠4, ∠4 = ∠4' - 180°.

[0162] 2. Calculate the value of L X according to equation (3).

[0163]

[0164] 3. From equation (3), L X = L' x tan ∠4.

[0165] 4. Assign the value of -L X to X and 0 to Y.

[0166] VI. As shown in Fig. Figure 8 d, when 270° < ∠1' ≦ 360°, O XY falls in the second quadrant of the XY horizontal plane coordinate system. The data terminal 300 performs the following operation:

[0167] 1. Calculate ∠1 and ∠2, where ∠1 = ∠1' - 270° and ∠2 = ∠2' - 270°.

[0168] 2. Calculate the values of L Y and L X according to equations (1) and (2).

[0169]

[0170]

[0171] 3. From equations (1), (2), and (3), we have: L Y = L X x tan ∠1.

[0172] 4. Assign the value of -L X to X and the value of L Y to Y.

[0173] S63: Calculate the depth Z of O XY falling in the XY horizontal plane.

[0174] 1. Calculate ∠3, ∠3 = ∠3'.

[0175] 2. Calculate the value of L Z according to equation (4).

[0176]

[0177] 3、 from equation (4) we can get: L Z = L X x tan ∠3.

[0178] 4、 assign -L Z to Z.

[0179] S64: coupling the sum of (X, Y) in step S63 and Z in step S64 to form the position coordinate (X, Y, Z) of point O. The coordinate (X, Y, Z) is the position coordinate of the to-be-measured end.

[0180] It should be noted that in actual application, the installation direction of the second fixed end 200 is not limited to the east direction of the first fixed end 200, and the installation direction of the third fixed end 200 is not limited to the north direction of the first fixed end 200. When the installation direction of the second fixed end 200 is not in the east direction of the first fixed end 200, and the installation direction of the third fixed end 200 is not in the north direction of the first fixed end 200, the space coordinate system and the geometric relationship can be established according to the method described in the embodiment to calculate the space position coordinate of the to-be-measured end 100. Here, it will not be repeated.

[0181] The automatic positioning method based on sound waves can realize accurate positioning in a local range of special environment, the positioning process is stable, and real-time positioning can be performed to obtain the motion trajectory of the object to be positioned.

[0182] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited to the protection scope of the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the essence and scope of the technical solutions of the present application.

Claims

1. A method of automatic positioning of acoustic waves, characterized by: The application discloses a three-point positioning system, which comprises a to-be-measured end, a data end and three fixed ends. The to-be-measured end is used for sending an acoustic wave signal to the fixed end. The fixed end is used for receiving the acoustic wave signal sent by the to-be-measured end and sending an angle measurement signal to the data end. The data end is used for receiving the angle measurement signal sent by the fixed end and calculating the position coordinates of the to-be-measured end. The fixed end is provided with a first sensor used for rotating to receive the acoustic wave signal along a horizontal plane and a second sensor used for rotating to receive the acoustic wave signal along a vertical plane. The fixed end is further provided with a positioning stand, a floating platform, a support and an intelligent module. The following steps are included: S1: establishing a space coordinate system. Specifically, a point where the first fixed end is located is defined as point A, a point where the second fixed end is located is defined as point B, the first fixed end is arranged in the positive east direction of point A, a point where the third fixed end is located is defined as point C, the third fixed end is arranged in the positive north direction of point A, a point where the to-be-measured end is located is defined as point O, and a horizontal plane formed by points A, B and C is defined as the XY plane of the coordinate system, so that point A is the coordinate origin, point B is a point on the X axis, point C is a point on the Y axis, and point O is the positioning coordinate point. S2: measuring the distance between points A and B and recording the distance as L. S3: the projection point of point O on XY plane is O XY point, the projection point of point O on XZ plane is O XZ point XY the projection point of point O on X axis is O X point XY the projection point of point O on Y axis is O Y point XY the angle ∠1 between A and X axis, O XY the angle ∠2 between B and X axis, O XZ the angle ∠3 between A and X axis, O XY the angle ∠4 between C and Y axis; S4: defining the reading of the compass at the fixed end located at point A as ∠1', the reading of the compass at the fixed end located at point B as ∠2', the reading of the angle meter at the fixed end located at point A as ∠3', and the reading of the compass at the fixed end located at point C as ∠4'. The following steps are included: S41: controlling the motor at the fixed end of point A to drive the first sensor to rotate, when the receiving head arranged on the first sensor receives the acoustic wave signal, the intelligent module attaches the reading of the compass to ∠1', and the motor is controlled to drive the second sensor to rotate, when the receiving head arranged on the second sensor receives the acoustic wave signal, the intelligent module attaches the reading of the angle meter to ∠3'; S42: controlling the motor at the fixed end of point B to drive the first sensor to rotate, when the receiving head arranged on the first sensor receives the acoustic wave signal, the intelligent module attaches the reading of the compass to ∠2'; S43: controlling the motor at the fixed end of point C to drive the first sensor to rotate, when the receiving head arranged on the first sensor receives the acoustic wave signal, the intelligent module attaches the reading of the compass to ∠4'; S5: the intelligent module sends ∠1', ∠2', ∠3' and ∠4' to the data end. S6: the data end calculates the position of the coordinate (X, Y, Z) where point O is located according to the angle data of ∠1', ∠2', ∠3' and ∠4' sent by the intelligent modules at the fixed ends located at points A, B and C. S61: Set O X A distance is L X , X O XY A distance is L Y , X O XZ A distance is L Z , Point (X, Y, Z) is the coordinate of O point in the space coordinate system S62: Calculate O XY The quadrant position (X, Y) of the XY horizontal plane coordinate is calculated, and the calculation case includes: When ∠1' < 90°, the data end performs the following operation:

1. Calculate ∠1 and ∠2, wherein ∠1 = 90° - ∠1', ∠2 = ∠2' - 270°; 2. Calculate L from equations (1) and (2) Y and the value of L X ; Formula (1); Formula (2); 3. From the equations (1) (2) (3) we obtain: , ; 4. Assign the value of L X to X and the value of L Y to Y; II. When ∠1' = 90°, the data terminal performs the following operations:

1. Calculate ∠4, ∠4 = 180° - ∠4'; 2. Calculate L from equation (3) X the value of L; Formula (3); 3. From equation (3) we have ; 4. Assign the value of L X to X and 0 to Y; since O XY falls on the X axis of the XY horizontal coordinate system, L Y = 0, III. When 90° < ∠1' ≦ 180°, the data terminal performs the following operations:

1. Calculate ∠1 and ∠2, wherein ∠1 = ∠1' - 90°, ∠2 = 270° - ∠2'; 2. Calculate L from equations (1) and (2) Y and the value of L X ; Formula (1); Formula (2); 3. From the equations (1) (2) (3) we obtain: , ; 4. Assign the value of L X to X and the value of -L Y to Y. IV. When 180° < ∠1' < 270°, the data terminal performs the following operations:

1. Calculate ∠1 and ∠2, wherein ∠1 = 270° - ∠1', ∠2 = 270° - ∠2'; 2. Calculate L from equations (1) and (2) Y and the value of L X . Formula (1); Formula (2); 3. From the equations (1) (2) (3) we obtain: , ; 4. Assign the value of -L X to X and the value of -L Y to Y; V. When ∠1' = 270°, the data terminal performs the following operations:

1. Calculate ∠4, ∠4 = ∠4' - 180°; 2. Calculate L from equation (3) X the value of L; Equation (3); 3. From equation (3) we have ; 4. Assign the value of -L X to X and 0 to Y. VI. When 270° < ∠1' ≦ 360°, the data terminal performs the following operations:

1. Calculate ∠1 and ∠2, wherein ∠1 = ∠1' - 270°, ∠2 = ∠2' - 270°; 2. Calculate L from equations (1) and (2) Y and the value of L X ; Formula (1); Formula (2); 3. From the equations (1) (2) (3) we obtain: , ; 4. Assign the value of L X to X and the value of L Y to Y; S63: Calculate O XY Depth Z of the fall into the water; 1. Calculate ∠3, ∠3 = ∠3'; 2. Calculate L according to equation (4) Z the value of L; Formula (4) 3. From equation (4) it follows that: ; 4. Set -L Z to Z; S64: coupling X and Y in S62 and Z in S63 to form the coordinates (X, Y, Z) of the O point.

2. The method of automatic positioning of acoustic waves according to claim 1, characterized in that: The sound wave emitting disc is provided with six sound wave emitting heads evenly arranged in the upper half circle.

3. The method of automatic positioning of acoustic waves according to claim 2, characterized in that: The first sensor is provided with a sound wave sleeve, a receiving head and a compass, the sound wave sleeve is provided with a mounting groove, and the receiving head and the compass are fixedly assembled at the bottom of the mounting groove.

4. The method of automatic positioning of acoustic waves according to claim 3, characterized in that: The second sensor is provided with a sound wave sleeve, a receiving head and an angle instrument, the sound wave sleeve is provided with a receiving groove, and the receiving head and the angle instrument are fixedly assembled at the bottom of the receiving groove.

5. The method of automatic positioning of acoustic waves according to claim 4, characterized in that: The bracket is provided with a sleeve column, a first mounting arm and a second mounting arm, the sleeve column is sleeved with the positioning column, the floating platform is fixedly connected with the sleeve column, the first sensor is fixedly connected with the first mounting arm, and the second sensor is fixedly connected with the second mounting arm. The tail ends of the first mounting arm and the second mounting arm are provided with a current collecting ring and a motor, the current collecting ring is fixedly connected with the mounting arm, and the motor is fixedly connected with the current collecting ring. The first sensor is fixedly connected with the motor of the first mounting arm, and the second sensor is fixedly connected with the motor of the second mounting arm.

6. The method of automatic positioning of acoustic waves according to claim 5, characterized in that: The to-be-measured end is also provided with a fixing frame, the fixing frame is provided with a connecting rod and a fixing disc connected with the to-be-measured object, and the fixing disc and the sound wave mounting disc are fixedly assembled at both ends of the connecting rod.

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