Buried object detector based on parametric array and control method thereof

Abstract

The embodiment of the invention provides a buried object detector based on a parametric array and a control method thereof, and relates to the technical field of sonar detection, and the buried object detector comprises a mounting rack, an acoustic parametric array, a phase control transmitting host and a receiver. The acoustic parametric array comprises a mounting part and transducer arrays, the transducer arrays are arranged in an array manner to form a transducer, and the transducer arrays are arranged at the bottom of the mounting part; the phase control transmitting host is respectively connected with all the transducer arrays and drives the transducer arrays to transmit acoustic wave beams with different frequencies; a plurality of transducer arrays are arranged in an acoustic parametric array to form a transducer, sound beams are emitted under the regulation and control of a phase control emission host, and multi-beam detection is performed on underwater buried objects, so that the detection depth, the detection breadth and the strength of signals received by a receiver are improved, and the problem that a buried object detector based on a parametric array in the prior art is poor in detection precision is solved. The technical problems of insufficient detection precision, small range, low efficiency and the like in the prior art are solved, and the detection effect on underwater buried objects is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of sonar detection, and more particularly, to a buried object detector based on a parametric array and a control method thereof. Background Art

[0002] Sonar technology is a technology that uses the propagation and reflection characteristics of sound waves in water to perform navigation and ranging through electro-acoustic conversion and information processing, and also refers to the technology of detecting underwater targets using this technology. Among them, the detection of underwater buried objects is of great significance for the analysis and utilization of deep-sea mineral resources. Traditional acoustic detection mainly uses linear frequency modulation sonar technology to achieve sonar detection. By measuring the propagation speed and attenuation degree of sound waves in different media, different layers of buried objects on the seabed can be distinguished, and the thickness and distribution of each buried object can be determined.

[0003] The parametric array shallow layer profile technology is a new means for detecting underwater buried objects. By emitting a high-energy and highly directional sound wave beam through a phased transducer array and analyzing and processing the echo signal, the detection function of underwater buried objects is realized. Therefore, there are many buried object detectors based on parametric arrays.

[0004] However, due to the high acoustic impedance of deep-sea buried objects, existing buried object detectors based on parametric arrays have problems such as insufficient detection accuracy, small range, and low efficiency. Summary of the Invention

[0005] The purpose of the present invention is to provide a buried object detector based on a parametric array to alleviate the technical problems of insufficient detection accuracy, small range, and low efficiency existing in the existing buried object detectors based on parametric arrays.

[0006] The present invention provides a buried object detector based on a parametric array, including:

[0007] A mounting frame, the mounting frame includes a bearing platform and a mounting rod. One end of the mounting rod is used to connect to the side of a ship, the mounting rod extends vertically downward, and the bearing platform is arranged at the other end of the mounting rod;

[0008] An acoustic parametric array, the acoustic parametric array includes a mounting member and a transducer array. A plurality of the transducer arrays are arranged to surround and form the transducer, and a plurality of the transducer arrays are arranged at the bottom of the mounting member;

[0009] A phased transmitting host, the phased transmitting host is respectively connected to all the transducer arrays. A control circuit is arranged in the phased main transmitter to drive the transducer arrays to emit sound wave beams of different frequencies;

[0010] A receiver, which is fixed to the mounting bracket.

[0011] Furthermore, an installation sleeve and a first driving member are provided on the bearing platform. The top end of the installation sleeve is sleeved on the installation rod. The first driving member is in transmission connection with the installation sleeve and drives the installation sleeve to rotate along its axial direction. The installation member is connected to the bottom end of the installation sleeve.

[0012] Furthermore, a second driving member and an installation cross bar are also provided on the bearing platform. The installation cross bar is arranged at the bottom end of the installation sleeve along a direction perpendicular to the axial direction of the installation sleeve. An installation hole is provided at the top of the installation member. The installation cross bar is rotatably connected to the installation hole. The second driving member is fixed to the installation cross bar and is in transmission connection with the installation member.

[0013] Furthermore, the installation member is arranged in a flat plate shape, and the transducer group is arranged in a matrix at the bottom of the installation member.

[0014] Furthermore, the installation member is in a hemispherical shape, and the transducer group is evenly arrayed at the bottom of the installation member.

[0015] Furthermore, the phased emission host includes a digital control extension and multiple groups of channel transmitters. The channel transmitters are arranged in one-to-one correspondence with the transducer groups. The control circuit is arranged in the channel transmitters, and the channel transmitters are electrically connected to the digital control extension.

[0016] Furthermore, the buried object detector based on the parametric array further includes a display and control platform, which is respectively connected to the receiver and the phased emission host.

[0017] Furthermore, the buried object detector based on the parametric array further includes a load-bearing cable. One end of the load-bearing cable is connected to the phased emission host, and the other end of the load-bearing cable is connected to the display and control platform.

[0018] On the other hand of the present invention, a control method for a buried object detector based on the parametric array, which is used to control the above-mentioned buried object detector based on the parametric array, includes:

[0019] Step 1: Set the angle of the acoustic wave beam and the acoustic wave detection position data through the display and control platform, and transmit the data to the phased emission host. The phased emission host drives the transducers to emit multiple groups of acoustic wave beams with different frequencies;

[0020] Step 2: The receiver receives the reflected beam acoustic wave beam, and resolves the sediment types and determines the sediment positions according to the reflection time and signal intensity of the reflected acoustic wave beam.

[0021] Step 3: The receiver transmits the information on the sediment type and sediment location to the display and control platform, and the display and control platform outputs the information as a detection result map.

[0022] Further, the first driving member and the second driving member drive the mounting member to rotate to adjust the orientation of the acoustic parametric array, collect multiple groups of information on the sediment type and sediment location, and the display and control platform performs graphic integration on multiple groups of the detection result maps.

[0023] Beneficial effects:

[0024] A buried object detector based on a parametric array provided by the present invention emits sound beams under the control of a phased emission host by arranging a plurality of transducer arrays in the acoustic parametric array to form transducers, and at the same time arranges a plurality of transducer arrays at the bottom of the mounting plate and extends them underwater to improve the detection power, perform multi-beam detection on underwater buried objects, so as to improve the detection depth, detection breadth and the intensity of the signal received by the receiver, solve the technical problems of the existing buried object detector based on a parametric array, such as insufficient detection accuracy, small range and low efficiency, and improve the detection effect on underwater buried objects.

[0025] The present invention also provides a control method for a buried object detector based on a parametric array, which is used to control the above-mentioned buried object detector based on a parametric array. By performing multi-beam detection on underwater buried objects, the detection depth, detection breadth and the intensity of the signal received by the receiver are improved, the technical problems of the existing buried object detector based on a parametric array, such as insufficient detection accuracy, small range and low efficiency, are solved, and the detection effect on underwater buried objects is improved. Compared with the existing technology, it has the above-mentioned advantages and will not be elaborated here. Description of the Drawings

[0026] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0027] Figure 1 It is a schematic diagram of the overall structure of the buried object detector based on a parametric array provided by an embodiment of the present invention;

[0028] Figure 2 It is a schematic diagram of the structure of the acoustic parametric array in the buried object detector based on a parametric array provided by an embodiment of the present invention;

[0029] Figure 3Schematic diagram of the structure of the transducer in the buried object detector based on parametric array provided by the embodiment of the present invention.

[0030] Icon:

[0031] 100, mounting bracket; 110, bearing platform; 111, mounting sleeve; 112, first driving member; 120, mounting rod;

[0032] 200, acoustic parametric array; 210, mounting member; 220, transducer; 211, transducer array

[0033] 300, phased emission host

[0034] 400, display and control platform

[0035] 500, weighing cable Detailed implementation manners

[0036] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0037] The present invention will be further described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0038] As Figures 1 to 3 shown, the embodiment of the present invention provides a buried object detector based on a parametric array, including a mounting bracket 100, an acoustic parametric array 200, a phased emission host 300 and a receiver; the mounting bracket 100 includes a bearing platform 110 and a mounting rod 120, one end of the mounting rod 120 is used for connecting with the side of the ship, the mounting rod 120 extends vertically downward, and the bearing platform 110 is arranged at the other end of the mounting rod 120; the acoustic parametric array 200 includes a mounting member 210 and a transducer array 220, and a plurality of transducer arrays 220 are arranged in an array to surround and form a transducer 220, and a plurality of transducers 220 are arranged in an array at the bottom of the mounting member 210; the phased emission host 300 is respectively connected to all transducer arrays 220, and a control circuit is arranged in the phased main transmitter to drive the transducer arrays 220 to emit acoustic wave beams of different frequencies; the receiver is fixed to the mounting bracket 100.

[0039] That is, a buried object detector based on a parametric array provided in an embodiment of the present invention, comprises a plurality of transducer arrays 220 arranged in an acoustic parametric array 200 to form a transducer 220, and emits a sound beam under the control of a phased-control transmitter host 300. At the same time, the plurality of transducers 220 are arrayed at the bottom of a mounting plate and extended underwater to improve the detection power, thereby performing multi-beam detection on underwater buried objects and improving the detection depth, detection breadth and the strength of the signal received by the receiver. This solves the technical problems of the prior art buried object detectors based on parametric arrays, such as insufficient detection accuracy, small range and low efficiency, and improves the detection effect on underwater buried objects.

[0040] Specifically, the mounting rod 120 is set as a metal rod, one end of which is fixed on the side of the ship by bolts, flanges, etc., and the mounting rod 120 extends vertically downward into the sea. The carrying platform 110 is fixed at the bottom of the mounting rod 120 by bolts. The acoustic parametric array 200 is set at the bottom of the carrying platform 110 and is set toward the seabed. So as to emit sound wave beams to the seabed area to be detected. The phased-control transmitter host 300 is fixed in the carrying platform 110. The carrying platform 110 can be set as a frame welded by corrosion-resistant materials such as stainless steel, or a metal box body can be set, and the phased-control transmitter host 300 is fixed in the carrying platform 110. The transducer 220 array includes a device that converts electrical energy and acoustic energy into each other, and is provided with a piezoelectric element and a vibrator. The frequency and amplitude of the vibration of the vibrator are controlled by an electrical signal to realize the emission of sound waves. The phased-control transmitter host 300 is provided with a control circuit, through which the drive transducer 220 array can be controlled to emit sound waves of different frequencies. The sound waves emitted by the multiple transducer arrays will form a sound wave beam under the nonlinear effect of the medium. The multiple transducer 220 arrays at the bottom of the mounting member 210 will emit multiple sound wave beams. When the control circuit of the phased-control transmitter host 300 sets a certain delay for the transmission signal of the transducer 220 to form a multi-beam high-power sound radiation, it is possible to achieve energy transfer to the difference frequency and beam scanning of the original and difference frequencies, that is, multi-beam sonar detection, thereby improving the detection depth and detection breadth of the detection sound waves and the strength of the signal received by the receiver. The receiver is set as a multi-channel signal collector, fixed on the carrier platform 110, and can correspond to the sound waves of the acoustic parameter array 200 emission beam frequency, and judge the type and position of the detected buried objects by the attenuation degree and reflection time of the sound waves.

[0041] Furthermore, a mounting sleeve 111 and a first driving member 112 are provided on the supporting platform 110. The top end of the mounting sleeve 111 is sleeved on the mounting rod 120. The first driving member 112 is transmission-connected to the mounting sleeve 111 and drives the mounting sleeve 111 to rotate along its axial direction. The mounting member 210 is connected to the bottom end of the mounting sleeve 111.

[0042] Specifically, the first driving member 112 is set as a rotary servo. The rotary servo is fixed on one side of the mounting sleeve 111 and is arranged parallel to the mounting sleeve 111. The mounting sleeve 111 is sleeved on the mounting rod 120. A driven gear is arranged on the outer side of the mounting sleeve 111, and a driving gear is arranged on the output shaft of the rotary servo. By the meshing of the driving gear and the driven gear, the first driving member 112 can drive the mounting sleeve 111 to rotate, and then drive the mounting member 210 at the bottom of the mounting sleeve 111 to rotate, so as to realize the adjustment of the emission beam direction of the acoustic parameter array in the horizontal direction.

[0043] Preferably, a second driving member and a mounting cross bar are further arranged on the bearing platform 110. The mounting cross bar is arranged at the bottom end of the mounting sleeve 111 along a direction perpendicular to the axial direction of the mounting sleeve 111. A mounting hole is arranged at the top of the mounting member 210, and the mounting cross bar is rotatably connected with the mounting hole. The second driving member is fixed on the mounting cross bar and is in transmission connection with the mounting member 210.

[0044] Specifically, a mounting hole is arranged at the top of the mounting member 210. The mounting rod 120 is arranged horizontally, and the mounting cross bar extends into the mounting hole, so that the mounting plate can rotate around the mounting cross bar. The mounting cross bar can be welded to the mounting sleeve 111 or connected by bolts. The second driving member can be set as an electric push rod. Its output end is hinged to one side of the top of the mounting member 210, and its fixed end is fixed on the mounting sleeve 111 by bolts. By driving the telescopic movement of its output end by the second driving member, the mounting member 210 can be driven to rotate around the mounting cross bar. Cooperating with the rotation of the mounting sleeve 111 around its own axis, the arbitrary adjustment of the emission beam direction of the acoustic parameter array can be realized, so as to expand the detection range of the buried object detector based on the parameter array and improve the detection flexibility.

[0045] Furthermore, the mounting member 210 is arranged in a flat plate shape, and the transducers 220 are arranged in a matrix at the bottom of the mounting member 210.

[0046] Specifically, the mounting member 210 is integrally set as a rectangular metal plate or a rectangular plastic plate. The transducer 220 includes its housing and a matching layer. The transducer 220 arrays are linearly arranged in the transducer 220 housing in sequence. An integrated cable is arranged on the transducer 220 housing, and the transducer 220 arrays are connected to the control circuit in the phased emission host 300 through the integrated cable. The transducer 220 is arranged in a long strip shape and is linearly arranged in sequence along the extension direction of the long side of the mounting member 210 to form a rectangular acoustic parameter array 200, so as to emit multi-beam detection sound waves, thereby improving the detection depth, detection breadth of the detection sound waves and the intensity of the signals received by the receiver.

[0047] Preferably, the mounting member 210 is in a hemispherical shape, and the transducer 220 arrays are evenly arranged at the bottom of the mounting member 210.

[0048] Specifically, the mounting member 210 can be set as a hemispherical housing with its arc surface facing downward. The transducer 220 array is arranged in multiple groups of circular arrays, successively extending downward from the top of the bottom surface of the housing of the mounting member 210 and arranged uniformly under the bottom surface of the mounting member 210. Setting the array form of the transducer 220 array as hemispherical can further improve the power of the entire transducer 220, thereby improving the detection depth, detection breadth of the acoustic parametric array 200, and the intensity of the signal received by the receiver.

[0049] Further, the phased emission host 300 includes a digital control extension and multiple groups of channel transmitters. The channel transmitters are arranged in one-to-one correspondence with the transducer 220 groups. The control circuit is arranged in the channel transmitter, and the channel transmitter is electrically connected to the digital control extension.

[0050] Specifically, the digital control extension can be provided with a control system, which can calculate the preset emission form and emission beam angle as the signal delay of each control circuit, and the power amplification circuit amplifies the signal. Then, through the control circuit in the channel transmitter, the transducer 220 is efficiently driven to finally convert the electrical signal into acoustic energy and emit it.

[0051] Preferably, the buried object detector based on the parametric array further includes a display and control platform 400, and the display and control platform 400 is respectively connected to the receiver and the phased emission host 300.

[0052] Specifically, the display and control platform 400 is fixed on the ship and is connected to the receiver and the phased emission host 300 through a communication module. A display screen and a control panel are arranged on the display and control platform 400. The user can input the emission signal form and the emission beam angle into the display and control platform 400 through the control panel and transmit it to the phased emission host 300 through the communication module. An imaging module is arranged in the display and control platform 400, which can analyze the reflected acoustic wave signal received by the receiver and generate a planar distribution map and a three-dimensional model map of the buried object to be displayed on the display screen.

[0053] Preferably, the buried object detector based on the parametric array further includes a load-bearing cable. One end of the load-bearing cable is connected to the phased emission host 300, and the other end of the load-bearing cable is connected to the display and control platform 400.

[0054] Specifically, one end of the load-bearing cable is connected to the display and control platform 400, and the other end extends into or into the surrounding mounting rod 120, so as to enter the bearing platform 110 and be connected to the phased emission host 300. The load-bearing cable can replace the communication module to realize the signal transmission between the display and control platform 400 and the phased emission host 300, so as to improve the signal transmission efficiency between the display and control platform 400 and the phased emission host 300 and reduce the influence of underwater interference signals.

[0055] The present invention also provides a control method for a buried object detector based on a parametric array, which is used to control the buried object detector based on the parametric array, including:

[0056] Step 1: Set the angle of the acoustic beam and the acoustic detection position data through the display control platform 400, and transmit the data to the phased array transmitting host 300. The phased array transmitting host 300 drives the transducer 220 to emit multiple groups of acoustic beams with different frequencies;

[0057] Step 2: The receiver receives the reflected beam acoustic wave beam, and distinguishes the sediment type and determines the sediment position according to the reflection time and signal intensity of the reflected acoustic wave beam;

[0058] Step 3: The receiver transmits the information of the sediment type and the sediment position to the display control platform 400, and the display control platform 400 outputs the information as a detection result map.

[0059] Furthermore, the first driving member 112 and the second driving member drive the mounting member 210 to rotate to adjust the orientation of the acoustic parametric array 200, collect information on multiple types of buried objects and their positions, and the display control platform 400 integrates the multiple detection result maps graphically.

[0060] Specifically, the user can input the form of the transmitted signal and the angle of the transmitted beam into the display control platform 400 through the control panel, and transmit it to the phased array transmitting host 300 through the communication module. Then, through the control system in the digital control extension, the preset transmission form and the angle of the transmitted beam can be calculated as the signal delays of each control circuit, and the power amplifier circuit amplifies the signal. Then, through the control circuit in the channel transmitter, the transducer 220 can be efficiently driven to finally convert the electrical signal into acoustic energy and emit it. At the same time, the receiver receives the reflected beam acoustic wave beam with the same frequency as the transmitted acoustic wave, and distinguishes the type of buried object and determines the position of the buried object according to the reflection time and signal intensity of the reflected acoustic wave beam. Subsequently, the receiver transmits information such as the distinguished type of buried object and the determined position of the buried object to the display control platform 400. The imaging module in the display control platform 400 can analyze the reflected acoustic wave signals received by the receiver and generate a planar distribution map and a three-dimensional model map of the buried object to be displayed on the display screen. Thus, a detection of the buried object on the seabed is completed.

[0061] Preferably, after one detection is completed, the first driving member 112 and the second driving member drive the mounting member 210 to rotate, so as to adjust the orientation of the acoustic parameter array 200 and detect the buried object again. The display and control platform 400 receives the types of buried objects detected multiple times, determines information such as the positions of the buried objects, generates multiple groups of graphics, merges the same data in the graphics, screens out the interference data, accumulates the different data in sequence, and finally generates a planar distribution map and a three-dimensional model map of the buried objects, so as to improve the accuracy of detecting the buried objects.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A buried object detector based on parametric array, characterized in that Comprising: An installation frame (100), the installation frame (100) includes a bearing platform (110) and an installation rod (120), one end of the installation rod (120) is used for connecting with the ship's side, the installation rod (120) extends downward in the vertical direction, and the bearing platform (110) is arranged at the other end of the installation rod (120); An acoustic parametric array (200), the acoustic parametric array (200) includes a mounting member (210) and a transducer (220) array, a plurality of the transducer (220) arrays are arranged in a surrounding manner to form the transducer (220), and a plurality of the transducer (220) arrays are arranged at the bottom of the mounting member (210); A phased emission main machine (300), the phased emission main machine (300) is respectively connected to all the transducer (220) arrays, and a control circuit is arranged in the phased emission main machine (300) to drive the transducer (220) arrays to emit acoustic wave beams of different frequencies; A receiver, which is fixed to the installation frame (100).

2. The buried object detector based on parametric array according to claim 1, characterized in that, An installation sleeve (111) and a first driving member (112) are arranged on the bearing platform (110), the top end of the installation sleeve (111) is sleeved on the installation rod (120), the first driving member (112) is in transmission connection with the installation sleeve (111) and drives the installation sleeve (111) to rotate along its axial direction, and the mounting member (210) is connected to the bottom end of the installation sleeve (111).

3. The buried object detector based on parametric array according to claim 2, characterized in that, A second driving member and an installation cross bar are further arranged on the bearing platform (110), the installation cross bar is arranged at the bottom end of the installation sleeve (111) along a direction perpendicular to the axial direction of the installation sleeve (111), a mounting hole is arranged at the top of the mounting member (210), the installation cross bar is rotationally connected to the mounting hole, and the second driving member is fixed to the installation cross bar and is in transmission connection with the mounting member (210).

4. The buried object detector based on parametric array according to claim 1, characterized in that, The mounting member (210) is arranged in a flat plate shape, and the transducers (220) are arranged in a matrix at the bottom of the mounting member (210).

5. The buried object detector based on parametric array according to claim 1, wherein, The mounting member (210) is in a hemispherical shape, and the transducers (220) are evenly arrayed at the bottom of the mounting member (210).

6. The buried object detector based on parametric array according to any one of claims 1-5, characterized in that, The phased emission main machine (300) includes a digital control sub-machine and multiple groups of channel transmitters, the channel transmitters are arranged in one-to-one correspondence with the transducer (220) groups, the control circuit is arranged in the channel transmitters, and the channel transmitters are electrically connected to the digital control sub-machine.

7. The buried object detector based on parametric array according to any one of claims 1-5, characterized in that, The buried object detector based on the parametric array further includes a display and control platform (400), and the display and control platform (400) is respectively connected to the receiver and the phased emission main machine (300).

8. The buried object detector based on parametric array according to claim 7, characterized in that, The buried object detector based on the parametric array further includes a load-bearing cable, one end of the load-bearing cable is connected to the phased emission main machine (300), and the other end of the load-bearing cable is connected to the display and control platform (400).

9. A control method for a buried object detector based on a parametric array, which is used to control the buried object detector based on a parametric array according to any one of claims 1-8, characterized in that, Comprising: Step 1: Set the angle of the acoustic beam and the acoustic detection position data through the display and control platform (400), and transmit the data to the phased array transmitter host (300). The phased array transmitter host (300) drives the transducer (220) to emit multiple groups of acoustic beams with different frequencies; Step 2: The receiver receives the reflected beam acoustic beam, and distinguishes the sediment types and determines the sediment positions according to the reflection time and signal intensity of the reflected acoustic beam; Step 3: The receiver transmits the information of the sediment types and sediment positions to the display and control platform (400), and the display and control platform (400) outputs the information as a detection result map.

10. The method for controlling a buried object detector based on a parametric array according to claim 9, characterized in that, Drive the mounting member (210) to rotate through the first driving member (112) and the second driving member to adjust the orientation of the acoustic parametric array (200), collect multiple groups of the information of the sediment types and sediment positions, and the display and control platform (400) performs graphic integration on multiple groups of the detection result maps.

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