Calibration Device for Sonar Transducer

Abstract

The present invention discloses a calibration device for a sonar transducer, which relates to the technical field of underwater engineering. The calibration device includes a frame body, an arc-shaped arm, a moving component, a bracket and a suspension arm. The arc-shaped arm is installed on the frame body and extends along the height direction of the frame body. The moving component is movably installed on the arc-shaped arm and is arranged to be able to move along the extension direction of the arc-shaped arm. The bracket is installed on the moving component and can be installed with a transmitting transducer. The top of the suspension arm is installed on the frame body, and the bottom of the suspension arm can be installed with a receiving transducer. The theoretical position of the acoustic center of the receiving transducer is located in the plane where the moving path of the geometric center of the transmitting transducer is located. In this way, only one such transmitting transducer needs to be configured for the calibration device, which is beneficial to greatly simplify the structure of the calibration device and reduce the cost of the calibration device.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater acoustic engineering, and particularly relates to a calibration device for a sonar transducer. Background Art

[0002] The inventor disclosed a calibration device for a sonar transducer in a Chinese invention patent with the application publication number of CN118393426A, which is used to measure the error between the actual position and the theoretical position of the acoustic center of the sonar transducer to obtain a calibration value, so as to accurately calibrate the sonar transducer based on this calibration value. The calibration device of the prior art includes a frame body, an arc arm, a plurality of pan-tilt assemblies, and a suspension arm. The arc arm is installed on the frame body and extends along the height direction. These pan-tilt assemblies are respectively installed on the arc arm at intervals along the extension direction of the arc arm. Each pan-tilt assembly can be installed with a transmitting transducer respectively, and the pan-tilt assembly is configured to be able to adjust the spatial position of the geometric center of the transmitting transducer. The top of the suspension arm is installed on the frame body, and the bottom of the suspension arm is located on the concave side of the arc arm. The bottom of the suspension arm can be installed with a receiving transducer. When the calibration device is used to calibrate the receiving transducer, these pan-tilt assemblies can make the theoretical positions of the geometric centers of these transmitting transducers and the acoustic center of the receiving transducer coplanar. The defect of the calibration device of the prior art is that it is necessary to configure a plurality of pan-tilt assemblies and the same number of transmitting transducers. For example, in a specific example of the calibration device, the calibration device needs to configure 17 pan-tilt assemblies and 17 transmitting transducers, which not only makes the structure of the calibration device complex and the cost high, but also reduces the reliability of the calibration device. In addition, the positions of these pan-tilt assemblies of the calibration device of the prior art are fixed, resulting in the positions of these transmitting transducers also being fixed. If it is necessary to more accurately measure the calibration value of the receiving transducer, it must be achieved by increasing the number of pan-tilt assemblies and transmitting transducers. However, a larger number of pan-tilt assemblies and transmitting transducers not only further complicate the structure of the calibration device, increase the cost of the calibration device and reduce the reliability of the calibration device, but also due to the large volume of the pan-tilt assemblies and transmitting transducers, there is an upper limit to the number of pan-tilt assemblies and transmitting transducers. Summary of the Invention

[0003] An object of the present invention is to provide a calibration device for a sonar transducer, wherein only one transmitting transducer needs to be configured for the calibration device, which is beneficial to greatly simplify the structure of the calibration device, reduce the cost of the calibration device, and improve the reliability of the calibration device.

[0004] An object of the present invention is to provide a calibration device for a sonar transducer, wherein the calibration device can accurately measure the error calibration value of the receiving transducer to achieve accurate calibration of the receiving transducer.

[0005] According to an aspect of the present invention, there is provided a calibration device for a sonar transducer, comprising:

[0006] A frame;

[0007] An arc-shaped arm, wherein the arc-shaped arm is mounted on the frame and extends along the height direction of the frame;

[0008] A moving component, wherein the moving component is movably mounted on the arc-shaped arm and is arranged to be movable along the extending direction of the arc-shaped arm;

[0009] A bracket, wherein the bracket is mounted on the moving component and can be mounted with a transmitting transducer;

[0010] A suspension arm, wherein the top of the suspension arm is mounted on the frame, the bottom of the suspension arm is located on the concave side of the arc-shaped arm, and the bottom of the suspension arm can be mounted with a receiving transducer, wherein the theoretical position of the acoustic center of the receiving transducer is located in the plane where the moving path of the geometric center of the transmitting transducer is located.

[0011] Preferably, the moving component includes an assembly plate, a first runner, a second runner and a driving part. The first runner and the second runner are respectively arranged on the same side of the assembly plate. The driving part includes a driving motor and a driving wheel mounted on the rotor of the driving motor. The driving motor is mounted on the assembly plate. The driving wheel, the first runner and the second runner are located on the same side of the assembly plate. The arc-shaped arm includes a main arm body and an auxiliary arm body stacked on the main arm body. The main arm body is mounted on the frame. The auxiliary arm body has meshing teeth. The first runner and the second runner are respectively attached to the auxiliary arm body on the opposite sides of the auxiliary arm body. The teeth of the driving wheel mesh with the meshing teeth of the auxiliary arm body. The bracket is mounted on the assembly plate.

[0012] Preferably, the arc-shaped arm includes a main arm body and an auxiliary arm body disposed on the main arm body in an overlapping manner. The main arm body is mounted on the frame body. The moving assembly includes an assembly plate, a first runner, a second runner, and a driving portion. The first runner and the second runner are respectively disposed on the same side of the assembly plate. The driving portion includes an arc-shaped circuit board, a group of driving coils, and a driving magnet. The arc-shaped circuit board is stacked on the auxiliary arm body. The group of driving coils are mounted on the arc-shaped circuit board along the extending direction of the arc-shaped circuit board. The driving magnet is disposed on the assembly plate. The first runner and the second runner are respectively attached to the auxiliary arm body on opposite sides of the auxiliary arm body. The position of the driving magnet corresponds to the position of the driving coil. The bracket is mounted on the assembly plate.

[0013] Preferably, the assembly plate has a plate groove, and the driving magnet is embedded in the plate groove of the assembly plate to dispose the driving magnet on the assembly plate.

[0014] Preferably, the driving portion includes a magnetic conduction plate, the magnetic conduction plate is embedded in the plate groove of the assembly plate, and the side of the driving magnet facing away from the driving coil is stacked on the magnetic conduction plate.

[0015] Preferably, the driving portion includes a Hall element, the Hall element is mounted on the arc-shaped circuit board, and the Hall element is located at the hollow position of the driving coil.

[0016] Preferably, the auxiliary arm body has an arc-shaped arm groove, and the arc-shaped circuit board is mounted in the arm groove of the auxiliary arm body.

[0017] Preferably, the number of the first runners is two, and the number of the second runners is one.

[0018] Preferably, the frame body includes a bottom frame, a top frame, and a support frame, and the frame body has a frame body space. The bottom of the support frame is disposed at one end of the bottom frame, and the top of the support frame is disposed at one end of the top frame to support the top frame to a preset height position by the support frame. The top frame is located above the bottom frame to form the frame body space between the bottom frame, the top frame, and the support frame. The bottom of the main arm body is mounted on the bottom frame, and the top of the main arm body is mounted on the top frame. There is a gap between the middle of the main arm body and the support frame to mount the main arm body on the frame body.

[0019] Preferably, the frame body includes a bottom frame, a top frame and a support frame, and the frame body has a frame space. The bottom of the support frame is disposed at one end of the bottom frame, and the top of the support frame is disposed at one end of the top frame, so that the top frame is supported to a preset height position by the support frame, and the top frame is located above the bottom frame to form the frame space between the bottom frame, the top frame and the support frame. The bottom of the main arm body is mounted on the bottom frame, and the top of the main arm body is mounted on the top frame. There is a gap between the middle of the main arm body and the support frame to mount the main arm body on the frame body. The engaging teeth of the auxiliary arm body face the support frame.

[0020] Compared with the calibration device of the prior art, the calibration device of the present invention has at least the following beneficial effects:

[0021] First, the moving component of the calibration device is movably mounted on the arc arm, the bracket is mounted on the moving component, and when the moving component moves along the extending direction of the arc arm, it drives the bracket and the transmitting transducer mounted on the bracket to move synchronously. In this way, only one transmitting transducer needs to be configured for the calibration device of the present invention. Compared with the calibration device of the prior art that needs to configure multiple transmitting transducers, the structure of the calibration device of the present invention is greatly simplified, which is beneficial to reducing the cost of the calibration device and improving the reliability of the calibration device;

[0022] Second, the moving component can drive the bracket to move to any position within the design range and stay at that position. In this way, more data can be obtained when measuring the error calibration value of the receiving transducer, which is beneficial to more accurately measuring the error calibration value of the receiving transducer and realizing precise calibration of the receiving transducer; that is to say, in the process of using the calibration device to measure the error calibration value of the receiving transducer, the position of the transmitting transducer is not preset, but can be moved to any position within the design range according to actual needs, so that the calibration device of the present invention is applicable to measuring the error calibration values of different types and specifications of receiving transducers. Thus, the versatility of the calibration device of the present invention is greatly improved;

[0023] Third, the moving component is provided with the first runner and the second runner on the same side of the assembly plate, and the first runner and the second runner are respectively attached to the auxiliary arm body on the opposite sides of the auxiliary arm body. In this way, the moving component can smoothly move along the extending direction of the arc arm;

[0024] Fourth, the position of the second runner of the moving component relative to the first runner is dynamically variable, so that when the moving component moves along the extension direction of the arc-shaped arm, the situation of the moving component being "jammed" can be avoided, thereby ensuring the reliability and stability of the calibration device.

[0025] Other beneficial effects of the calibration device of the present invention will be further described in the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a perspective three-dimensional schematic diagram of a calibration device for a sonar transducer according to a preferred embodiment of the present invention.

[0027] Figure 2 is a perspective three-dimensional schematic diagram of another perspective of the calibration device according to the above preferred embodiment of the present invention.

[0028] Figure 3 is a perspective three-dimensional schematic diagram of a perspective of a partial position of the calibration device according to the above preferred embodiment of the present invention.

[0029] Figure 4 is a perspective three-dimensional schematic diagram of another perspective of the above partial position of the calibration device according to the above preferred embodiment of the present invention.

[0030] Figure 5 is a perspective three-dimensional schematic diagram of a perspective of yet another partial position of the calibration device according to the above preferred embodiment of the present invention.

[0031] Figure 6 is a perspective three-dimensional schematic diagram of another perspective of the above partial position of the calibration device according to the above preferred embodiment of the present invention.

[0032] Figure 7 is a side view schematic diagram of one of the usage processes of the calibration device according to the above preferred embodiment of the present invention.

[0033] Figure 8 is a side view schematic diagram of a second usage process of the calibration device according to the above preferred embodiment of the present invention.

[0034] Figure 9 is a side view schematic diagram of a third usage process of the calibration device according to the above preferred embodiment of the present invention.

[0035] Figure 10 is a three-dimensional schematic diagram of a calibration device for a sonar transducer according to another preferred embodiment of the present invention.

[0036] Figure 11 is an exploded schematic diagram of a perspective of the calibration device according to the above preferred embodiment of the present invention.

[0037] Figure 12 It is an exploded schematic view from another perspective of the calibration device according to the above-mentioned preferred embodiment of the present invention.

[0038] Figure 13 It is a three-dimensional schematic view from a perspective of a partial position of the calibration device according to the above-mentioned preferred embodiment of the present invention.

[0039] Figure 14 It is a three-dimensional schematic view from another perspective of the above-mentioned partial position of the calibration device according to the above-mentioned preferred embodiment of the present invention.

[0040] Figure 15 It is an exploded schematic view of the above-mentioned partial position of the calibration device according to the above-mentioned preferred embodiment of the present invention.

[0041] Figure 16 It is a three-dimensional schematic view from a perspective of another partial position of the calibration device according to the above-mentioned preferred embodiment of the present invention.

[0042] Figure 17 It is a three-dimensional schematic view from another perspective of the above-mentioned partial position of the calibration device according to the above-mentioned preferred embodiment of the present invention.

[0043] Figure 18 It is a sectional schematic view of the above-mentioned partial position of the calibration device according to the above-mentioned preferred embodiment of the present invention.

[0044] Figure 19 It is Figure 18 an enlarged view of the partial position.

[0045] In the figure:

[0046] 10. Calibration device; 11. Frame body; 111. Bottom frame; 112. Top frame; 113. Support frame; 114. Frame body space; 115. Roller; 116. Lifting part; 12. Arc-shaped arm; 121. Main arm body; 1211. Single arm body; 122. Auxiliary arm body; 1221. Meshing teeth; 1222. First groove; 1223. Second groove; 1224. Arm groove; 13. Moving component; 131. Assembly plate; 1311. First plate hole; 1312. Second plate hole; 1313. Plate groove; 132. First runner; 133. Second runner; 134. Driving part; 1341. Driving motor; 1342. Driving wheel; 1343. Arc-shaped circuit board; 1344. Driving coil; 1345. Driving magnet; 1346. Hall element; 1347. Magnetically conductive plate; 135. First wheel shaft; 136. Second wheel shaft; 137. Compression spring; 138. Abutting column; 14. Bracket; 141. Transducer mounting bracket; 142. Camera mounting bracket; 15. Suspension arm.

[0047] 20. Transmitting transducer;

[0048] 30. Receiving transducer;

[0049] 40. Camera. Detailed implementation manners

[0050] Before detailing any embodiment of the present invention, it should be understood that the present invention is not limited in its application to the construction and arrangement details of the components described in the following description or illustrated in the following drawings. The present invention is capable of other embodiments and of being practiced or carried out in various ways. Additionally, it should be understood that the language and terminology used herein are for the purpose of description and should not be regarded as limiting. As used herein, the terms "including" or "having" and their variants are intended to cover the listed items and their equivalents as well as additional items. Unless otherwise specified or limited, the terms "mounted", "connected", "supported", and "coupled" and their variants are used broadly and cover both direct and indirect mounting, connection, support, and coupling. Further, "connected" and "coupled" are not limited to physical or mechanical connection or coupling.

[0051] And, on the one hand, in the disclosure of the present invention, the orientation or positional relationship indicated by the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting the present invention; on the other hand, the term "a" should be understood as "at least one" or "one or more". That is, in one embodiment, the number of an element can be one, while in other embodiments, the number of this element can be multiple. The term "a" should not be construed as limiting the quantity.

[0052] Referring to the appended drawings of the specification of the present invention Figures 1 to 9 , a calibration device 10 for a sonar transducer according to a preferred embodiment of the present invention will be disclosed and described in the following. The calibration device 10 is used to measure the error calibration value of a receiving transducer 30 through a transmitting transducer 20 and is capable of calibrating the receiving transducer 30. The receiving transducer 30 is a sonar transducer, which can be used in an ultra-short baseline system, and the ultra-short baseline system can achieve the positioning of underwater targets. It can be understood that the ultra-short baseline system consists of an ultra-short baseline array (i.e., the receiving transducer 30) and an electronic cabin connected to the ultra-short baseline array.

[0053] Referring to the appended Figures 1 to 9, the calibration device 10 includes a frame body 11, an arc-shaped arm 12, a moving component 13, a bracket 14 and a suspension arm 15, wherein the arc-shaped arm 12 is installed on the frame body 11, and the arc-shaped arm 12 extends along the height direction of the frame body 11, wherein the moving component 13 is movably installed on the arc-shaped arm 12, and the moving component 13 is arranged to be able to move along the extending direction of the arc-shaped arm 12, wherein the bracket 14 is installed on the moving component 13, and the bracket 14 can be installed with the transmitting transducer 20, wherein the top of the suspension arm 15 is installed on the frame body 11, the bottom of the suspension arm 15 is located on the concave side of the arc-shaped arm 12, and the bottom of the suspension arm 15 can be installed with the receiving transducer 30.

[0054] When the calibration device 10 of the present invention is used to measure the error calibration value of the receiving transducer 30, as Figures 7 to 9 shown, the transmitting transducer 20 is installed on the bracket 14, the receiving transducer 30 is installed at the bottom of the suspension arm 15. When the moving component 13 drives the bracket 14 and the transmitting transducer 20 to move, the theoretical position of the acoustic center of the receiving transducer 30 is located in the plane where the moving path of the geometric center of the transmitting transducer 20 is located.

[0055] The calibration device 10 measures the error calibration value of the receiving transducer 30 in an anechoic tank and calibrates the receiving transducer 30 based on the error calibration value. The specific process is as follows: the suspension arm 15 rotates the receiving transducer 30 at a certain angular step In the case of the azimuth angle of the receiving transducer 30 , allow the moving component 13 to drive the bracket 14 and the transmitting transducer 20 installed on the bracket 14 to move to different positions, and the transmitting transducer 20 emits broadband positioning signals for a certain duration at these positions respectively. According to the data received by the receiving transducer 30, obtain Estimated values of azimuth angle and pitch angle within the vertical opening angle range in the case of azimuth angle , , compare it with the true value , to obtain the error calibration values of azimuth angle and pitch angle , , according to the error calibration values of the azimuth and elevation angles in all horizontal opening angle cases, interpolation processing is performed using the curve fitting method to obtain a fine error calibration value table within the three-dimensional space measurement range. Subsequently, during the actual application of the ultra-short baseline system including the receiving transducer 30, after obtaining the estimated values of the azimuth and elevation angles in a certain horizontal opening angle case, the error calibration values of the azimuth and elevation angles in this horizontal opening angle case are obtained by looking up the table, and the estimated values are subtracted from the error calibration values to complete the calibration of the ultra-short baseline system.

[0056] Different from the prior art calibration device that needs to configure multiple transmitting transducers, in the calibration device 10 of the present invention, a movable moving component 13 is provided on the arc arm 12, the bracket 14 is installed on the moving component 13, and the transmitting transducer 20 is installed on the bracket 14. In this way, when the moving component 13 moves along the extension direction of the arc arm 12, the moving component 13 can drive the bracket 14 and the transmitting transducer 20 installed on this bracket 14 to move synchronously, so that the same transmitting transducer 20 can emit broadband positioning signals for a certain duration at different positions. Thus, the structure of the calibration device 10 of the present invention is greatly simplified, which is beneficial to reducing the cost of the calibration device 10 and improving the reliability of the calibration device 10. At the same time, the moving component 13 can drive the bracket 14 and the transmitting transducer 20 installed on the bracket 14 to move to any position within the design range and stay at that position. In this way, more data can be obtained when measuring the error calibration value of the receiving transducer 30, which is beneficial to more accurately measuring the error calibration value of the receiving transducer 30 and achieving precise calibration of the receiving transducer 30. And, in the calibration device 10 of the present invention, the position of the transmitting transducer 20 is not preset, but can be moved to any position within the design range according to actual needs, so that the calibration device 10 of the present invention is applicable to measuring the error calibration values of different types and specifications of the receiving transducers 30, and thus the versatility of the calibration device 10 of the present invention is greatly improved.

[0057] Continue to refer to the appendix Figures 1 to 9 , the frame body 11 includes a bottom frame 111, a top frame 112, and a support frame 113. The bottom of the support frame 113 is installed at one end of the bottom frame 111, and the top of the support frame 113 is installed at one end of the top frame 112, so that the support frame 113 supports the top frame 112 to a preset height position. The top frame 112 is located above the bottom frame 111. In this way, the frame body 11 forms a frame body space 114 between the bottom frame 111, the top frame 112, and the support frame 113.

[0058] That is to say, the bottom of the support frame 113 extends downward to and is installed at one end of the bottom frame 111, and the top of the support frame 113 extends upward to and is installed at one end of the top frame 112. For example, in this specific example of the calibration device 10 of the present invention shown in the attached Figures 1 to 9 figure, the bottom frame 111, the top frame 112, and the support frame 113 are all profiles, such as but not limited to aluminum profiles. The bottom of the bottom frame 111 and the support frame 113 can be installed by the cooperation of profile connectors and screws, and the top of the top frame 112 and the support frame 113 can be installed by the cooperation of profile connectors and screws.

[0059] The bottom of the arc-shaped arm 12 is installed at the other end of the bottom frame 111, the top of the arc-shaped arm 12 is installed at the other end of the top frame 112, the middle of the arc-shaped arm 12 protrudes towards the support frame 113, and there is a gap between the middle of the arc-shaped arm 12 and the support frame 113. In this way, the arc-shaped arm 12 is installed on the frame body 11, and the arc-shaped arm 12 is located in the frame space 114 of the frame body 11.

[0060] It can be understood that since the bottom and top of the support frame 113 are respectively installed at one end of the bottom frame 111 and one end of the top frame 112, and the bottom and top of the arc-shaped arm 12 are respectively installed at the other end of the bottom frame 111 and the other end of the top frame 112, the bottom frame 111, the top frame 112, the support frame 113, and the arc-shaped arm 12 can form a stable frame, avoiding the problem that one end of the top frame 112 tilts downward due to its own gravity.

[0061] It can also be understood that since there is a gap between the middle of the arc-shaped arm 12 and the support frame 113, when the moving component 13 moves along the extending direction of the arc-shaped arm 12, the calibration device 10 can avoid the situation where the support frame 113 interferes with the moving component 13. In other words, by allowing a gap between the middle of the arc-shaped arm 12 and the support frame 113, the moving component 13 can avoid being blocked or collided by the support frame 113 during the process of moving along the extending direction of the arc-shaped arm 12.

[0062] In the attached Figures 1 to 9In this specific example of the calibration device 10 shown, the arc-shaped arm 12 includes an arc-shaped main arm body 121. The main arm body 121 is a profile, such as but not limited to an aluminum profile. The bottom of the main arm body 121 is mounted on the chassis 111 by means of the cooperation of profile connectors and screws, and the top of the main arm body 121 is mounted on the top frame 112 by means of the cooperation of profile connectors and screws.

[0063] In the calibration device 10 of the present invention, the main arm body 121 can be of an integral structure or formed by splicing two or more single arm bodies 1211. For example, in the attached Figures 1 to 9 In this specific example of the calibration device 10 of the present invention shown, the main arm body 121 is spliced by three of the single arm bodies 1211 end to end to obtain a large-sized arc-shaped main arm body 121 on the basis of low cost. It should be noted that the overall height dimension of the calibration device 10 of the present invention is approximately 2 meters, which means that the overall dimension of the main arm body 121 of the arc-shaped arm 12 is relatively large. And since the main arm body 121 is arc-shaped as a whole, in order to reduce the cost of the main arm body 121, the calibration device 10 of the present invention adopts the method of splicing three small-sized arc-shaped single arm bodies 1211 to make the main arm body 121. At the same time, the side surface of the main arm body 121 formed by splicing three small-sized single arm bodies 1211 has a relatively high flatness. In this way, the calibration device 10 can ensure that the theoretical position of the acoustic center of the receiving transducer 30 is located in the plane where the moving path of the geometric center of the transmitting transducer 20 is located.

[0064] Further, continue to refer to the attached Figure 1 and Figure 2 , the frame 11 includes a plurality of rollers 115. These rollers 115 are arranged at different positions of the chassis 111. In this way, when the frame 11 is in a standing state, the frame 11 can be pushed in such a way that it rolls on the ground by means of the plurality of rollers 115 arranged on the chassis 111, so as to facilitate the movement of the calibration device 10.

[0065] Preferably, one of the rollers 115 can also be respectively arranged at a plurality of different positions of the support frame 113. In this way, after the frame 11 lies down, the frame 11 can be pushed in such a way that it rolls on the ground by means of the plurality of rollers 115 arranged on the support frame 113, so as to facilitate the movement of the calibration device 10.

[0066] That is to say, when the calibration device 10 of the present invention is placed on the ground, the calibration device 10 has two pushing postures. One pushing posture is that the frame body 11 is in a standing state. At this time, the support frame 113 stands, so that the calibration device 10 has a relatively high height dimension. The other pushing posture is that the frame body 11 is in a lying state. At this time, the support frame 113 lies down, so that the calibration device 10 has a relatively low height dimension. Therefore, during the process of moving the calibration device 10 over a short distance, the pushing posture for pushing the calibration device 10 can be selected according to the actual scenario. For example, when there is no obstruction in the height direction of the actual scenario, the calibration device 10 can be pushed in the pushing posture with the frame body 11 in the standing state. In this way, when the calibration device 10 is moved into place, it can be used immediately. When there is an obstruction in the height direction of the actual scenario, resulting in the frame body 11 being unable to stand, the calibration device 10 can be pushed in the pushing posture with the frame body 11 in the lying state.

[0067] In addition, the frame body 11 further includes at least one lifting part 116. The lifting part 116 is arranged on the top frame 112. A lifting machine (such as a crane) can conveniently lift the calibration device 10 off the ground through the lifting part 116, so as to load the calibration device 10 onto a vehicle or arrange the calibration device 10 in an anechoic water tank. Preferably, the number of the lifting parts 116 is two. The two lifting parts 116 are arranged on the top frame 112 at intervals from each other. In this way, during the process of lifting the calibration device 10, it is beneficial to ensure the stability of the calibration device 10 and avoid the calibration device 10 from tilting.

[0068] Refer to the attached Figure 1 、 Figure 5 and Figure 6 . The arc-shaped arm 12 further includes an arc-shaped auxiliary arm body 122. The auxiliary arm body 122 is stacked on the side of the main arm body 121. The auxiliary arm body 122 has a row of meshing teeth 1221, which face the support frame 113. It should be noted that in this specific example of the calibration device 10 shown in the attached Figures 1 to 9 . Both the main arm body 121 and the auxiliary arm body 122 of the arc-shaped arm 12 are arc-shaped, and the main arm body 121 and the auxiliary arm body 122 have the same extending direction, and both extend along the height direction of the frame body 11. Preferably, a set of screws or rivets can be used to lock the main arm body 121 and the auxiliary arm body 122 at different positions to ensure that the auxiliary arm body 122 is reliably stacked on the side of the main arm body 121. Preferably, the width dimension of the auxiliary arm body 122 is smaller than the width dimension of the main arm body 121.

[0069] Refer to the attached Figures 3 to 6, the moving component 13 includes an assembly plate 131, at least one first runner 132, at least one second runner 133 and a driving part 134. The first runner 132 and the second runner 133 are respectively arranged on the same side of the assembly plate 131. The driving part 134 includes a driving motor 1341 and a driving wheel 1342 mounted on the rotor of the driving motor 1341. The driving motor 1341 is mounted on the assembly plate 131. For example, screws can be used to fixedly mount the driving motor 1341 on the assembly plate 131. The driving wheel 1342, the first runner 132 and the second runner 133 are located on the same side of the assembly plate 131. The first runner 132 and the second runner 133 are respectively attached to the auxiliary arm body 122 on the opposite sides of the auxiliary arm body 122, and the teeth of the driving wheel 1342 mesh with the meshing teeth 1221 of the auxiliary arm body 122.

[0070] When the driving motor 1341 is powered to drive the driving wheel 1342 to rotate, the driving wheel 1342 and the auxiliary arm body 122 cooperate with each other, so that the moving component 13 can move along the extending direction of the auxiliary arm body 122, so that the transmitting transducer 20 can be moved to different positions. In this process, the first runner 132 and the second runner 133 rotate relative to the auxiliary arm body 122, which not only makes the moving process of the moving component 13 smoother, but also can prevent the moving component 13 from moving in the width direction of the auxiliary arm body 122. Thus, during the movement of the moving component 13, it is ensured that the distance between the geometric center of the transmitting transducer 20 and the acoustic center of the receiving transducer 30 remains unchanged. For example, the distance between the geometric center of the transmitting transducer 20 and the acoustic center of the receiving transducer 30 can always be kept at 1 meter. After the moving component 13 drives the bracket 14 and the transmitting transducer 20 to move to the desired position, the electromagnetic brake of the driving motor 1341 is powered to prevent the rotor from rotating, so as to realize the self-locking of the driving motor 1341. In this way, the driving wheel 1342 and the auxiliary arm body 122 cooperate with each other, so that the gravity of the moving component 13, the bracket 14 and the transmitting transducer 20 will not cause the driving wheel 1342 to rotate, thus ensuring that the moving component 13, the bracket 14 and the transmitting transducer 20 are stably held at the desired position.

[0071] Preferably, the driving motor 1341 is a stepping motor. By controlling the number of pulses input to the driving motor 1341, the moving component 13 can drive the bracket 14 and the transmitting transducer 20 to move to the desired position.

[0072] Refer to the appendix Figure 4, the number of the first runners 132 of the moving component 13 is two, and the number of the second runner 133 is one. In this way, the two first runners 132 and the one second runner 133 can be distributed in a triangle, so that the moving component 13 can be stably mounted on the arc arm 12. Preferably, the two first runners 132 and the second runner 133 are distributed in an isosceles triangle, that is, the distance between the axis of one first runner 132 and the axis of the second runner 133 is equal to the distance between the axis of the other first runner 132 and the axis of the second runner 133.

[0073] Continue to refer to the attached Figure 5 and Figure 6 , the outer side of the auxiliary arm body 122 has a first groove 1222, and the inner side of the auxiliary arm body 122 has a second groove 1223. Both the first groove 1222 and the second groove 1223 extend along the height direction of the auxiliary arm body 122, and the bottom of the first groove 1222 is parallel to the bottom of the second groove 1223. A part of the first runner 132 extends into the first groove 1222 of the auxiliary arm body 122, and the peripheral wall of the first runner 132 fits against the bottom of the first groove 1222 of the auxiliary arm body 122. A part of the second runner 133 extends into the second groove 1223 of the auxiliary arm body 122, and the peripheral wall of the second runner 133 fits against the bottom of the second groove 1223 of the auxiliary arm body 122. In this way, the first runner 132 and the second runner 133 are respectively attached to the auxiliary arm body 122 on the opposite sides of the auxiliary arm body 122. When the driving motor 1341 is powered to drive the driving wheel 1342 to rotate, as the moving component 13 moves, the first runner 132 rotates in the first groove 1222 of the auxiliary arm body 122, and the second runner 133 rotates in the second groove 1223 of the auxiliary arm body 122. In this way, the moving component 13 can move smoothly along the extending direction of the auxiliary arm body 122 and will not generate a displacement away from the auxiliary arm body 122 in the thickness direction of the auxiliary arm body 122, thereby ensuring that the moving component 13 is reliably mounted on the arc arm 12.

[0074] Preferably, the shape and size of the first runner 132 match the shape and size of the first groove 1222 of the auxiliary arm body 122, and the shape and size of the second runner 133 match the shape and size of the second groove 1223 of the auxiliary arm body 122. Thus, when the drive motor 1341 is powered to drive the drive wheel 1342 to rotate, it can not only ensure that the moving assembly 13 moves smoothly along the extension direction of the auxiliary arm body 122, but also prevent the moving assembly 13 from shaking, so as to ensure the measurement accuracy of the error calibration value of the receiving transducer 30.

[0075] Preferably, the position of the first runner 132 relative to the mounting plate 131 remains fixed, and the position of the second runner 133 relative to the mounting plate 131 can be adjusted adaptively, that is, the distance between the rotation axes of the first runner 132 and the second runner 133 is dynamic. In this way, when the moving assembly 13 moves along the extension direction of the arc-shaped auxiliary arm body 122, the problem that the moving assembly 13 jams the auxiliary arm body 122 can be avoided, so as to improve the reliability of the calibration device 10. That is to say, the position of the second runner 133 relative to the first runner 132 is dynamically variable.

[0076] Specifically, the moving assembly 13 includes two first axle shafts 135 and one second axle shaft 136. The first runner 132 is rotatably mounted at one end of the first axle shaft 135, and the other end of the first axle shaft 135 is fixedly mounted on the mounting plate 131. Thus, the first runner 132 is rotatably arranged on the mounting plate 131, and the position of the first runner 132 relative to the mounting plate 131 remains fixed. The second runner 133 is rotatably mounted at one end of the second axle shaft 136, and the other end of the second axle shaft 136 is movably mounted on the mounting plate 131. Thus, the second runner 133 is rotatably arranged on the mounting plate 131, and the position of the second runner 133 relative to the mounting plate 131 is movable.

[0077] More specifically, the assembly plate 131 has two first plate holes 1311, the size and shape of the first plate holes 1311 being consistent with the shape and size of the end of the first wheel shaft 135 away from the first runner 132. After the end of the first wheel shaft 135 is inserted into the first plate holes 1311 of the assembly plate 131, the first wheel shaft 135 can be fixedly installed on the assembly plate 131. The assembly plate 131 has a second plate hole 1312. In the height direction of the arc-shaped arm 12, the size of the first plate holes 1311 is consistent with the size of the end of the second wheel shaft 136 away from the second runner 133. In the width direction of the arc-shaped arm 12, the size of the first plate holes 1311 is larger than the end of the second wheel shaft 136 away from the second runner 133. After the end of the second wheel shaft 136 is inserted into the second plate hole 1312 of the assembly plate 131, this end of the second wheel shaft 136 can slide along the second plate hole 1312 of the assembly plate 131, so that the position of the second runner 133 relative to the assembly plate 131 is adjustable.

[0078] In order to adaptively adjust the position of the second runner 133 relative to the assembly plate 131, in this specific example of the calibration device 10 of the present invention, the moving assembly 13 further includes a compression spring 137. One end of the compression spring 137 abuts against the second wheel shaft 136, and the other end remains stationary relative to the assembly plate 131, and the initial state of the compression spring 137 is a compressed state. When the second runner 133 and the second wheel shaft 136 are pushed by the bottom of the second groove 1223 of the auxiliary arm body 122 to move relative to the assembly plate 131, the second wheel shaft 136 further compresses the compression spring 137, causing the compression spring 137 to further deform and accumulate elastic potential energy. In the process of the compression spring 137 returning to its initial state, it can push the second runner 133 and the second wheel shaft 136 to move in the reverse direction, so that the circumferential wall of the second runner 133 always closely adheres to the bottom of the second groove 1223 of the auxiliary arm body 122, while avoiding the phenomenon that the moving assembly 13 jams the auxiliary arm body 122, so as to improve the reliability of the calibration device 10.

[0079] Further, the moving assembly 13 includes a abutting post 138. The abutting post 138 is fixedly arranged on the assembly plate 131, and the abutting post 138 is adjacent to the second wheel shaft 136. The end of the compression spring 137 away from the second wheel shaft 136 abuts against the abutting post 138, so that this end of the compression spring 137 remains stationary relative to the assembly plate 131.

[0080] Refer to the appendix Figure 3 andFigure 4 The bracket 14 is fixedly mounted on the mounting plate 131 to mount the bracket 14 on the moving assembly 13. In this way, the moving assembly 13 can drive the bracket 14 and the transmitting transducer 20 mounted on the bracket 14 to move.

[0081] Continue to refer to the appendix Figure 3 and Figure 4 The bracket 14 includes a transducer mounting bracket 141. The transducer mounting bracket 141 can be mounted on the mounting plate 131 by screws, and the transmitting transducer 20 can be mounted on the transducer mounting bracket 141 by screws. In this way, the transmitting transducer 20 is mounted on the bracket 14. In the calibration device 10 of the present invention, the transducer mounting bracket 141 is adjustably mounted on the mounting plate 131. For example, the position of the transducer mounting bracket 141 relative to the mounting plate 131 can be adjusted by adding shims between the transducer mounting bracket 141 and the mounting plate 131 to adjust the attitude of the transmitting transducer 20 mounted on the bracket 14. Optionally, in other examples of the calibration device 10 of the present invention, the transducer mounting bracket 141 can be a pan-tilt head, and the attitude of the transmitting transducer 20 mounted on the transducer mounting bracket 141 can be adjusted by adjusting the attitude of the transducer mounting bracket 141.

[0082] Continue to refer to the appendix Figure 3 and Figure 4 The bracket 14 further includes a camera mounting bracket 142. The camera mounting bracket 142 is mounted on the transducer mounting bracket 141. A camera 40 can be mounted on the camera mounting bracket 142. After the camera 40 is mounted on the camera mounting bracket 142, the camera 40 faces the direction of the suspension arm 15 for taking images in the direction of the suspension arm 15 to realize the calibration of the calibration device 10.

[0083] Preferably, the camera mounting bracket 142 is detachably mounted on the transducer mounting bracket 141. After the calibration of the calibration device 10 is completed, the camera mounting bracket 142 is detached from the transducer mounting bracket 141 to reduce the weight of the bracket 14, thereby reducing the risk of the driving wheel 1342 rotating due to the gravity of the moving assembly 13, the bracket 14 and the transmitting transducer 20, and ensuring that the moving assembly 13, the bracket 14 and the transmitting transducer 20 are stably held in the desired position.

[0084] It is worth mentioning that the specific structure of the suspension arm 15, the assembly relationship between the suspension arm 15 and the top frame 112, and the assembly relationship between the suspension arm 15 and the receiving transducer 30 are the same as those of the calibration device in the prior art, and the calibration device 10 of the present invention will not be elaborated herein.

[0085] In order to ensure that the geometric center of the transmitting transducer 20 is in the designed position, that is, the acoustic center of the receiving transducer 30 is in the plane where the movement path of the geometric center of the transmitting transducer 20 is located, and the distance between the acoustic center of the receiving transducer 30 and the geometric center of the transmitting transducer 20 is the designed distance (for example, 1 meter), before the calibration device 10 is used to calibrate the receiving transducer 30, the calibration device 10 needs to be calibrated.

[0086] The specific process of calibrating the calibration device 10 is as follows: First, a target is installed at the bottom of the suspension arm 15, and it is ensured that the position of the center of the target is consistent with the theoretical position of the acoustic center of the receiving transducer 30; Second, according to the target surface image of the target captured by the camera 40 mounted on the camera mount 142 of the bracket 14, the attitude of the transmitting transducer 20 mounted on the transducer mount 141 is adjusted by changing the position of the transducer mount 141 of the bracket 14, so that the geometric center of the transmitting transducer 20 is adjusted to the designed position. In the embodiment where the transducer mount 141 of the calibration device 10 of the present invention is implemented as a pan-tilt head, the attitude of the transmitting transducer 20 mounted on the transducer mount 141 can be adjusted by changing the attitude of the transducer mount 141, so that the geometric center of the transmitting transducer 20 is adjusted to the designed position.

[0087] After the calibration device 10 is calibrated, the true values of the azimuth angle and the pitch angle are determined. That is, the true value of the azimuth angle is the angle between the projection of the line connecting the geometric center of the transmitting transducer 20 and the center of the target on the x-y plane and the x-axis, and the true value of the pitch angle is the angle between the line connecting the geometric center of the transmitting transducer 20 and the center of the target and the x-y plane. Since the position of the center of the target is consistent with the theoretical position of the acoustic center of the receiving transducer 30, the true value of the azimuth angle is the angle between the projection of the line connecting the geometric center of the transmitting transducer 20 and the theoretical position of the acoustic center of the receiving transducer 30 on the x-y plane and the x-axis, and the true value of the pitch angle is the angle between the line connecting the geometric center of the transmitting transducer 20 and the theoretical position of the acoustic center of the receiving transducer 30 and the x-y plane.

[0088] After the calibration device 10 is calibrated, the calibration device 10 can be used to measure the error calibration value of the receiving transducer 30 and calibrate the receiving transducer 30 based on the error calibration value. Refer to the appendix Figures 7 to 9 , and the specific process is as follows.

[0089] First, replace the target with the receiving transducer 30. It can be understood that since the center position of the target and the theoretical position of the acoustic center of the receiving transducer 30 are the same when calibrating the calibration device 10, after replacing the target with the receiving transducer 30, the theoretical position of the acoustic center of the receiving transducer 30 is located in the plane where the moving path of the geometric center of the transmitting transducer 20 is located.

[0090] Second, according to the specifications and types of the receiving transducer 30, set the angular step of the transmitting transducer 20 to , where the angular range within which the transmitting transducer 20 can move is limited by the length of the engaging teeth 1221 of the auxiliary arm body 122. In a specific example of the calibration device 10 of the present invention, the angular range within which the transmitting transducer 20 can move is . It can be understood that different from the angular step of the transmitting transducer in the calibration device of the prior art being a fixed value, in the calibration device 10 of the present invention, the angular step of the transmitting transducer 20 is adjustable at any time and can be adjusted according to the specifications and types of the receiving transducer 30. In addition, the suspension arm 15 can drive the receiving transducer 30 to rotate, so that the angular measurement range of the ultra-short baseline system is , and the angular step is .

[0091] Then, when the azimuth angle of the receiving transducer 30 is , drive the bracket 14 and the transmitting transducer 20 mounted on the bracket 14 to move to the first position by the moving component 13, so that the transmitting transducer 20 emits a broadband positioning signal for a certain period of time at the first position. The data received by the receiving transducer 30 can be collected and uploaded to the host computer for processing to obtain the estimated values of the azimuth angle and elevation angle of the corresponding sound source. Subsequently, drive the bracket 14 and the transmitting transducer 20 mounted on the bracket 14 to move to each position in turn by the moving component 13 and emit a broadband positioning signal for a certain period of time at these positions respectively, to obtain In the case of the azimuth angle, the estimated values of the azimuth angle and elevation angle within the vertical opening angle range. Compare the estimated values of the azimuth angle and elevation angle with the true values to obtain the error calibration values of the azimuth angle and elevation angle at this time.

[0092] Then, the suspension arm 15 rotates the receiving transducer 30 in sequence at a certain angular step for calibration under different azimuth angles until the horizontal opening angle measurement is completed. The error calibration values under all azimuth angles and pitch angles are interpolated by the curve fitting method to obtain the fine error calibration values within the three-dimensional space measurement range of the system, and a fine error calibration value table is formed.

[0093] Subsequently, during the actual application of the ultra-short baseline system including the receiving transducer 30, after obtaining the estimated values of the azimuth angle and pitch angle under a certain horizontal opening angle, the error calibration values of the azimuth angle and pitch angle under this horizontal opening angle are obtained by looking up the table, and the estimated values are subtracted by the error calibration values to complete the calibration of the ultra-short baseline system.

[0094] Appendix Figures 10 to 19 shows the calibration device 10 according to another preferred embodiment of the present invention. Different from the calibration device 10 shown in the appendix Figures 1 to 9 shown, in this specific example of the calibration device 10 shown in the appendix Figures 10 to 19 shown, the driving part 134 of the moving component 13 includes an arc-shaped circuit board 1343, a set of driving coils 1344 and a driving magnet 1345. The arc-shaped circuit board 1343 is stacked on the auxiliary arm body 122, and a set of the driving coils 1344 are mounted on the arc-shaped circuit board 1343 along the extending direction of the arc-shaped circuit board 1343. The driving magnet 1345 is arranged on the mounting plate 131 of the moving component 13. The first runner 132 and the second runner 133 of the moving component 13 are respectively attached to the auxiliary arm body 122 on the opposite sides of the auxiliary arm body 122, and the position of the driving magnet 1345 corresponds to the position of the driving coil 1344.

[0095] Each of the drive coils 1344 in a group of the drive coils 1344 can be powered sequentially. When sequentially powering each of the drive coils 1344 in a group of the drive coils 1344, the drive coils 1344 and the drive magnets 1345 cooperate with each other, so that the moving assembly 13 can move along the extending direction of the auxiliary arm body 122, so that the transmitting transducer 20 can be moved to different positions. In this process, the first runner 132 and the second runner 133 rotate relative to the auxiliary arm body 122, which not only makes the moving process of the moving assembly 13 smoother, but also can prevent the moving assembly 13 from moving in the width direction of the auxiliary arm body 122. Thus, during the movement of the moving assembly 13, it is ensured that the distance between the geometric center of the transmitting transducer 20 and the acoustic center of the receiving transducer 30 remains unchanged. For example, the distance between the geometric center of the transmitting transducer 20 and the acoustic center of the receiving transducer 30 can always be maintained at 1 meter. After the moving assembly 13 drives the bracket 14 and the transmitting transducer 20 to move to the desired position, the power supply state of a group of the drive coils 1344 remains unchanged. In this way, the drive coils 1344 and the drive magnets 1345 cooperate with each other, so that the gravity of the moving assembly 13, the bracket 14 and the transmitting transducer 20 will not cause the drive wheel 1342 to rotate, thereby ensuring that the moving assembly 13, the bracket 14 and the transmitting transducer 20 are stably held at the desired position.

[0096] It can be understood that in this specific example of the calibration device 10 shown in the attached Figures 10 to 19 figures, the auxiliary arm body 122 is not required to be provided with the engaging teeth 1221.

[0097] Referring to the attached Figure 10 figures, Figure 11 figures, Figure 18 figures and Figure 19 figures, the driving part 134 includes a group of Hall elements 1346. The Hall elements 1346 are mounted on the arc-shaped circuit board 1343, and these Hall elements 1346 are distributed along the extending direction of the arc-shaped circuit board 1343. The Hall elements 1346 are used to detect the magnetic field intensity of the drive magnets 1345. According to the detection results of the Hall elements 1346, the specific position of the moving assembly 13 on the arc-shaped arm 12 is determined, so as to determine the specific position of the transmitting transducer 20. Preferably, the Hall elements 1346 are located at the hollow position of the drive coils 1344, that is, the drive coils 1344 surround the Hall elements 1346. In this way, the Hall elements 1346 do not need to occupy additional space.

[0098] Continuing to refer to the attached Figure 10 figures,Figure 11 , Figure 18 and Figure 19 , the auxiliary arm body 122 has an arc-shaped arm groove 1224, and the arm groove 1224 extends along the extending direction of the auxiliary arm body 122. Wherein, the arc-shaped circuit board 1343 is installed in the arm groove 1224 of the auxiliary arm body 122. In this way, the arc-shaped circuit board 1343 can be sunken, which is beneficial to reducing the distance between the assembly board 131 and the auxiliary arm body 122, thereby reducing the risk that the gravity of the moving assembly 13, the bracket 14, and the transmitting transducer 20 installed on the bracket 14 causes the moving assembly 13 to move downward, and ensuring that the moving assembly 13, the bracket 14, and the transmitting transducer 20 are stably held in the desired position.

[0099] Preferably, the depth dimension of the arm groove 1224 of the auxiliary arm body 122 is greater than the sum of the thickness dimension of the arc-shaped circuit board 1343 and the thickness dimension of the drive coil 1344. In this way, the arc-shaped circuit board 1343 and the drive coil 1344 can be integrally received in the arm groove 1224 of the auxiliary arm body 122, so that the distance between the auxiliary arm body 122 and the assembly board 131 is not affected by the arc-shaped circuit board 1343 and the drive coil 1344. In this way, the distance between the auxiliary arm body 122 and the assembly board 131 can be further reduced.

[0100] It is worth mentioning that the specific way of installing the arc-shaped circuit board 1343 in the arm groove 1224 of the auxiliary arm body 122 is not limited in the calibration device 10 of the present invention. For example, in some examples of the calibration device 10 of the present invention, screws can be used to lock the arc-shaped circuit board 1343 at the bottom of the arm groove 1224 of the auxiliary arm body 122, so as to install the arc-shaped circuit board 1343 in the arm groove 1224 of the auxiliary arm body 122.

[0101] Refer to the attached Figure 12 , Figure 14 , Figure 15 , Figure 18 and Figure 19, the assembly plate 131 has a plate groove 1313, and the driving magnet 1345 is embedded in the plate groove 1313 of the assembly plate 131 to dispose the driving magnet 1345 on the assembly plate 131. In this way, on the one hand, the driving magnet 1345 can be reliably mounted on the assembly plate 131, and on the other hand, the driving magnet 1345 can be prevented from protruding from the surface of the assembly plate 131, so that the distance between the auxiliary arm body 122 and the assembly plate 131 is not affected by the driving magnet 1345. Thus, the distance between the auxiliary arm body 122 and the assembly plate 131 can be further reduced. In the calibration device 10 of the present invention, the opening of the plate groove 1313 of the assembly plate 131 is located in the space between the first runner 132 and the second runner 133, so that the positions of the driving magnet 1345 and the driving coil 1344 can correspond to each other.

[0102] Continue to refer to the attached Figure 15 , Figure 18 and Figure 19 , the driving part 134 includes a magnetic conduction plate 1347, the magnetic conduction plate 1347 is embedded in the plate groove 1313 of the assembly plate 131, and the side of the driving magnet 1345 facing away from the driving coil 1344 is stacked on the magnetic conduction plate 1347. By disposing the magnetic conduction plate 1347, on the one hand, the magnetic conduction plate 1347 can make the magnetic lines of force of the driving magnet 1345 concentrate in the direction of the driving coil 1344, so that when the driving coil 1344 is powered, the driving part 134 can provide a greater driving force. On the other hand, the magnetic conduction plate 1347 can reduce the interference of the magnetic field of the driving magnet 1345 on the transmitting transducer 20 adjacent to the driving part 134.

[0103] It is worth mentioning that the specific manner in which the driving magnet 1345 and the magnetic conduction plate 1347 are disposed on the assembly plate 131 is not limited in the calibration device 10 of the present invention. For example, in some embodiments of the calibration device 10 of the present invention, after the assembly plate 131 is formed, the magnetic conduction plate 1347 and the driving magnet 1345 are sequentially embedded in the plate groove 1313 of the assembly plate 131, and the driving magnet 1345 is stacked on the magnetic conduction plate 1347 to dispose the driving magnet 1345 and the magnetic conduction plate 1347 on the assembly plate 131.

[0104] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The objectives of the present invention have been fully and effectively achieved. The functions and structural principles of the present invention have been demonstrated and explained in the embodiments, and without departing from the said principles, any variations or modifications can be made to the embodiments of the present invention.

Claims

1. A calibration device for a sonar transducer, characterized in that, Comprising: Frame body; Arc-shaped arm, wherein the arc-shaped arm is mounted on the frame body and extends along the height direction of the frame body; Moving assembly, wherein the moving assembly is movably mounted on the arc-shaped arm and is arranged to be able to move along the extending direction of the arc-shaped arm; Bracket, wherein the bracket is mounted on the moving assembly and the bracket can be mounted with a transmitting transducer; Suspension arm, wherein the top of the suspension arm is mounted on the frame body, the bottom of the suspension arm is located on the concave side of the arc-shaped arm, and the bottom of the suspension arm can be mounted with a receiving transducer, wherein the theoretical position of the acoustic center of the receiving transducer is located in the plane where the moving path of the geometric center of the transmitting transducer is located; The moving assembly includes an assembly plate, a first runner, a second runner and a driving part. The first runner and the second runner are respectively arranged on the same side of the assembly plate. The driving part includes a driving motor and a driving wheel mounted on the rotor of the driving motor. The driving motor is mounted on the assembly plate. The driving wheel, the first runner and the second runner are located on the same side of the assembly plate. The arc-shaped arm includes a main arm body and an auxiliary arm body stacked on the main arm body. The main arm body is mounted on the frame body. The auxiliary arm body has meshing teeth. The first runner and the second runner are respectively attached to the auxiliary arm body on the opposite sides of the auxiliary arm body. The teeth of the driving wheel mesh with the meshing teeth of the auxiliary arm body. The bracket is mounted on the assembly plate. The position of the first runner relative to the assembly plate remains unchanged, and the position of the second runner relative to the assembly plate is adaptively adjusted so that the distance between the axle of the first runner and the axle of the second runner is dynamic.

2. The calibration device according to claim 1, wherein The width dimension of the auxiliary arm body is smaller than the width dimension of the main arm body.

3. The calibration device according to claim 2, wherein The driving motor is a stepping motor. By controlling the number of pulses input to the driving motor, the moving assembly drives the bracket and the transmitting transducer to move to a desired position.

4. The calibration device according to claim 2, characterized in that The outer side of the auxiliary arm body has a first groove, and the inner side has a second groove. Both the first groove and the second groove extend along the height direction of the auxiliary arm body, and the bottom of the first groove and the bottom of the second groove are parallel. The shape and size of the first runner match the shape and size of the first groove of the auxiliary arm body. A part of the first runner extends into the first groove of the auxiliary arm body and the peripheral wall of the first runner fits to the bottom of the first groove of the auxiliary arm body. The shape and size of the second runner match the shape and size of the second groove of the auxiliary arm body. A part of the second runner extends into the second groove of the auxiliary arm body and the peripheral wall of the second runner fits to the bottom of the second groove of the auxiliary arm body.

5. The calibration device according to claim 1, wherein The bracket includes a transducer mounting bracket and a camera mounting bracket. The transducer mounting bracket is mounted on the assembly plate, the transmitting transducer is mounted on the transducer mounting bracket, the camera mounting bracket is mounted on the transducer mounting bracket, and the camera mounting bracket is used to mount a camera.

6. The calibration device according to claim 5, characterized in that The transducer mounting bracket is adjustably mounted on the assembly plate.

7. The calibration device according to claim 6, characterized in that, The camera mounting bracket is detachably mounted on the transducer mounting bracket.

8. The calibration device according to any one of claims 2 to 7, characterized in that The number of the first runners is two, and the number of the second runners is one.

9. The calibration device according to any one of claims 2 to 7, characterized in that, The frame body includes a bottom frame, a top frame and a support frame, and the frame body has a frame body space. The bottom of the support frame is disposed at one end of the bottom frame, and the top of the support frame is disposed at one end of the top frame, so that the top frame is supported to a preset height position by the support frame, and the top frame is located above the bottom frame to form the frame body space between the bottom frame, the top frame and the support frame. The bottom of the main arm body is mounted on the bottom frame, the top of the main arm body is mounted on the top frame, and there is a gap between the middle of the main arm body and the support frame to mount the main arm body on the frame body.

10. The calibration device according to claim 2, wherein, The frame body includes a bottom frame, a top frame and a support frame, and the frame body has a frame body space. The bottom of the support frame is disposed at one end of the bottom frame, and the top of the support frame is disposed at one end of the top frame, so that the top frame is supported to a preset height position by the support frame, and the top frame is located above the bottom frame to form the frame body space between the bottom frame, the top frame and the support frame. The bottom of the main arm body is mounted on the bottom frame, the top of the main arm body is mounted on the top frame, and there is a gap between the middle of the main arm body and the support frame to mount the main arm body on the frame body. The engaging teeth of the auxiliary arm body face the support frame.

Images