Calibration device and calibration method for speed measuring sonar

Abstract

The present invention discloses a calibration device and a calibration method for a speed measuring sonar, wherein the calibration device comprises a circular water pool, a controllable turntable and a horizontal arm, wherein the controllable turntable is arranged in the circular water pool, and at least a portion of the controllable turntable is sunk into a water pool cavity of the circular water pool, one end of the horizontal arm is drivably mounted on the controllable turntable, the other end of the horizontal arm is used to mount a speed measuring sonar, and the horizontal arm is located in the water pool cavity of the circular water pool, wherein the controllable turntable is arranged to drive the horizontal arm to rotate, and during the rotation process, the horizontal arm drives the speed measuring sonar to perform circular motion around the rotation axis of the controllable turntable in the water pool cavity of the circular water pool.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater acoustic engineering, and in particular to a calibration device and a calibration method for a velocity measuring sonar. Background Art

[0002] Doppler logs, ADCPs, and other speed measuring sonar devices utilize the Doppler effect to measure the device's three-dimensional velocity relative to the bottom or water body. Speed ​​measuring sonar devices require factory calibration to verify their speed accuracy.

[0003] The current common standard calibration method is to integrate the speed measuring sonar and attitude sensor into a combined navigation system in open outdoor waters and install it on a test ship. After a certain period of sailing, the trajectory calculated by the combined navigation system and the trajectory recorded by the satellite positioning system are statistically calculated to obtain the sonar speed measurement accuracy.

[0004] However, this calibration method presents several challenges in practical use. Specifically, it requires a sufficiently large test area to obtain sufficient and valid data. Furthermore, since the final test vessel trajectory is calculated as a fusion of data from the velocity sonar and attitude sensor, this not only results in a large test data processing workload but also complicates the data processing algorithm. Furthermore, to ensure the accuracy of the velocity sonar's speed measurement, this method requires the attitude sensor to have high precision and to effectively eliminate installation errors. Consequently, this method places high demands on the test site, test facilities, and data processing algorithms. Furthermore, this method makes it difficult to control the test hydrological environment. To obtain calibration data under different hydrological conditions, different waters must be selected for testing, significantly increasing the cost of the calibration work. Calibration of the velocity sonar's speed measurement accuracy under specific hydrological conditions becomes even more challenging. Summary of the Invention

[0005] One object of the present invention is to provide a calibration device and calibration method for a speed measuring sonar, wherein the calibration device allows a controllable turntable to drive a horizontal arm to rotate in a water cavity of a circular pool, so as to drive the speed measuring sonar installed on the horizontal arm to perform circular motion around the rotation axis of the controllable turntable, so that the calibration device can greatly reduce the requirements for site space.

[0006] One object of the present invention is to provide a calibration device and calibration method for a speed measuring sonar, wherein the circular water pool has a smaller size, thereby making it possible to quickly adjust the hydrological parameters of the water in the water pool cavity contained in the circular water pool. For example, parameters such as the water temperature, salinity, and turbidity of the water in the water pool cavity contained in the circular water pool can be quickly adjusted to simulate a more realistic environment to calibrate the speed measurement accuracy of the speed measuring sonar, thereby improving the calibration confidence.

[0007] An object of the present invention is to provide a calibration device and calibration method for a speed measuring sonar, wherein the rotation axis of the rotating shaft of the controllable turntable is stable and the speed is stable, so as to facilitate improving the calibration accuracy of the speed measuring sonar.

[0008] In order to achieve the above object, the present invention provides a calibration method for a velocity measuring sonar, characterized in that the calibration method comprises the following steps:

[0009] S1, the central control computer controls the controllable turntable to drive the horizontal arm to rotate, and during the rotation process, the horizontal arm drives the speed measuring sonar to perform circular motion around the rotation axis of the controllable turntable in the water cavity of the circular pool;

[0010] S2, measuring the actual rotational angular velocity of the speed measuring sonar ;

[0011] S3, according to the actual rotation angular velocity of the speed measuring sonar and the horizontal distance between the velocity measuring sonar and the rotation axis of the controllable turntable , calculate the actual linear velocity of the velocity measuring sonar ,in ;

[0012] S4, during the period from the central control computer controlling the controllable turntable to drive the horizontal arm to rotate to the central control computer controlling the controllable turntable to stop rotating, the speed measuring sonar collects a total of Speed ​​test data , , the central control computer collects The actual movement speed data of the speed measuring sonar , ;

[0013] S5, seek Speed ​​test data Average value and Actual movement speed data Average value , to obtain the speed measurement accuracy calibration result of the speed measurement sonar ,in .

[0014] Preferably, in step S2, the actual rotational angular velocity of the speed measuring sonar is measured by an angular velocity sensor fixedly mounted on the inner wall of the circular pool. .

[0015] Preferably, in step S2, the actual rotational angular velocity of the speed measuring sonar is measured by a Hall sensor provided on the assembly arm of the controllable turntable and a magnet provided on the horizontal arm. .

[0016] Preferably, in step S5, the speed data of the controllable turntable during the period of driving the horizontal arm to rotate stably is selected. and actual movement speed data To find the average value.

[0017] The present invention also provides a calibration device for a velocity measuring sonar, comprising:

[0018] A circular pool, wherein the circular pool has a pool cavity;

[0019] A controllable turntable, wherein the controllable turntable is disposed in the circular pool, and at least a portion of the controllable turntable is sunk into the pool cavity of the circular pool;

[0020] A horizontal arm, wherein one end of the horizontal arm is drivably mounted on the controllable turntable, the other end of the horizontal arm is used to mount a speed measuring sonar, and the horizontal arm is located in the water pool cavity of the circular pool, wherein the controllable turntable is configured to drive the horizontal arm to rotate, and during the rotation process, the horizontal arm drives the speed measuring sonar to perform circular motion around the rotation axis of the controllable turntable in the water pool cavity of the circular pool.

[0021] Preferably, the controllable turntable includes an assembly disk, an assembly arm, a drive motor and a rotating shaft, one end of the assembly arm is fixedly mounted on the assembly disk, and the other end is fixedly mounted on the edge of the circular pool to suspend the assembly disk at the mouth of the pool cavity of the circular pool, the drive motor is mounted on the assembly disk, the top of the rotating shaft is drivably mounted on the rotor of the drive motor, and the bottom of the rotating shaft extends toward the bottom of the pool cavity of the circular pool, wherein one end of the horizontal arm is fixedly mounted on the rotating shaft.

[0022] Preferably, the controllable turntable includes a bearing, the bottom of the rotating shaft is mounted on the bottom of the circular pool through the bearing, and the top of the rotating shaft is mounted on the assembly plate through the bearing.

[0023] Preferably, the calibration device includes an angular velocity measuring unit, which includes an angular velocity sensor. The angular velocity sensor is fixedly mounted on the inner wall of the circular pool to measure the actual rotational angular velocity of the speed measuring sonar, wherein the height of the angular velocity sensor is consistent with the height of the speed measuring sonar.

[0024] Preferably, the calibration device includes an angular velocity measuring unit, which includes a magnet and a Hall sensor. The magnet is arranged on the horizontal arm, the Hall sensor is arranged on the assembly arm, and the position of the magnet corresponds to the position of the Hall sensor.

[0025] Preferably, the calibration device includes a streamlined assembly portion, the top of the assembly portion is mounted on one end of the horizontal arm, and the speed measuring sonar is mounted on the bottom of the assembly portion.

[0026] Compared with the existing calibration method, the present invention has at least the following beneficial effects:

[0027] In a limited space and with simple facilities, the calibration device of the present invention can quickly calibrate the speed measurement accuracy of the speed measuring sonar. Compared to existing solutions that require open waters and the use of high-precision attitude sensors and high-precision satellite positioning systems, the calibration device of the present invention utilizes the constant rotation of the controllable turntable and the rotation speed measurement of the angular velocity sensor to calibrate the speed measurement accuracy of the speed measuring sonar. The calibration device of the present invention can increase the number of speed sample points collected by increasing the rotation time of the controllable turntable, thereby improving the calibration confidence. In addition, the calibration device of the present invention can calibrate the speed measurement accuracy of the speed measuring sonar under specific hydrological conditions by changing the hydrological parameters (such as water temperature, salinity, and turbidity) in the circular pool and using water temperature, salinity, and turbidity sensing equipment to measure the actual hydrological parameter values.

[0028] Other beneficial effects of the calibration device and the calibration method of the present invention will be further explained in the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a three-dimensional schematic diagram of a calibration device for a velocity measuring sonar according to a preferred embodiment of the present invention.

[0030] Figure 2 It is a schematic cross-sectional view from a three-dimensional perspective of the calibration and marking device according to the above preferred embodiment of the present invention.

[0031] Figure 3It is a cross-sectional schematic diagram from another stereoscopic perspective of the calibration and marking device according to the above preferred embodiment of the present invention.

[0032] Figure 4 It is a schematic cross-sectional view from a plane perspective of the calibration and marking device according to the above preferred embodiment of the present invention.

[0033] Figure 5 yes Figure 4 An enlarged view of a local location.

[0034] Figure 6 yes Figure 4 An enlarged view of another local location.

[0035] Figure 7 It is a schematic diagram of a top-down perspective of the calibration process of a speed measuring sonar by the calibration device according to the above preferred embodiment of the present invention.

[0036] Figure 8 It is a schematic cross-sectional view from a plane perspective of a modified implementation of the calibration and marking device according to the above preferred embodiment of the present invention.

[0037] Figure 9 yes Figure 8 An enlarged view of a local location.

[0038] In the picture:

[0039] 100. Calibration and calibration device;

[0040] 10. Circular pool; 11. Pool cavity;

[0041] 20. Controllable turntable; 21. Assembly disk; 211. Disk slot; 212. Disk hole; 22. Assembly arm; 221. Threading hole; 23. Drive motor; 231. Rotor; 24. Rotating shaft; 241. Blind hole; 242. Protrusion; 25. Flange; 251. Flange slot; 26. Bearing; 261. Bearing inner ring; 262. Bearing outer ring; 263. Ball bearing;

[0042] 30. Horizontal arm; 31. Fixed end; 32. Mounting end;

[0043] 40. Central control computer;

[0044] 50. Assembly part; 51. Assembly plate; 511. Water-breaking diversion part; 52. Assembly column;

[0045] 60. Angular velocity measurement unit; 61. Angular velocity sensor; 62. Magnet; 63. Hall element;

[0046] 70. Fixed frame;

[0047] 200. Speed ​​measuring sonar. DETAILED DESCRIPTION

[0048] Before describing in detail 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 set forth in the following description or illustrated in the following figures. The present invention is capable of other embodiments and can be practiced or carried out in various ways. In addition, it should be understood that the words and terms used herein are for descriptive purposes and should not be considered restrictive. The use of "including" or "having" and their variations herein is intended to cover the items and their equivalents set forth below and additional items. Unless otherwise specified or limited, the terms "mounted", "connected", "supported" and "coupled" and their variations are used broadly and cover direct mounting and indirect mounting, connection, support and coupling. In addition, "connected" and "coupled" are not limited to physical or mechanical connections or couplings.

[0049] Furthermore, on the first hand, in the disclosure of the present invention, the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, which are 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, and therefore the above terms cannot be understood as limitations on the present invention; on the second hand, the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" cannot be understood as a limitation on the quantity.

[0050] Reference is made to the accompanying drawings of the present invention. Figures 1 to 7 In the following description, a calibration device 100 for a speed measuring sonar according to a preferred embodiment of the present invention will be disclosed and explained. The calibration device 100 is used to calibrate the speed measurement accuracy of a speed measuring sonar 200.

[0051] Specifically, the calibration device 100 includes a circular pool 10, a controllable turntable 20, and a horizontal arm 30. The circular pool 10 has a pool cavity 11 for holding water. Hydrological parameters such as temperature, salinity, and turbidity of the water contained in the pool cavity 11 of the circular pool 10 can be selected to calibrate the velocity measurement accuracy of the velocity sonar 200 under specific hydrological conditions. The controllable turntable 20 is disposed in the circular pool 10, and at least a portion of the controllable turntable 20 is submerged in the pool cavity 11 of the circular pool 10. The horizontal arm 30 has a fixed end 31 and a mounting end 32 opposite to each other. The fixed end 31 of the horizontal arm 30 is drivably mounted on the controllable turntable 20. The mounting end 32 of the horizontal arm 30 is used to mount the speed measuring sonar 200. The horizontal arm 30 is located in the water pool cavity 11 of the circular pool 10. In this way, the horizontal arm 30 suspends the speed measuring sonar 200 in the water pool cavity 11 of the circular pool 10.

[0052] It is understood that the length of the horizontal arm 30 determines the horizontal distance between the rotation axis of the speed measuring sonar 200 and the controllable turntable 20. For the convenience of description, in the calibration device 100 of the present invention, the horizontal distance between the rotation axis of the speed measuring sonar 200 and the controllable turntable 20 is defined as a parameter It is understood that by changing the specifications of the horizontal arm 30, the horizontal distance between the rotation axis of the speed measuring sonar 200 and the controllable turntable 20 can be selected, that is, the parameter That is, in a specific example of the calibration device 100 of the present invention, the fixed end 31 of the horizontal arm 30 is detachably mounted on the controllable turntable 20 .

[0053] The controllable turntable 20 is configured to drive the horizontal arm 30 to rotate within the water tank cavity 11 of the circular water tank 10. For example, the calibration device 100 of the present invention further includes a central control computer 40. The controllable turntable 20 is connected to the central control computer 40, and the controllable turntable 20 is controlled by the central control computer 40 so that the controllable turntable 20 is configured to drive the horizontal arm 30 to rotate within the water tank cavity 11 of the circular water tank 10. In the present invention, the central control computer 40 can not only control the controllable turntable 20 to drive the horizontal arm 30 to rotate or stop, but also control the speed at which the controllable turntable 20 drives the horizontal arm 30 to rotate.

[0054] During the rotation of the horizontal arm 30, the speed measuring sonar 200 is driven to make a circular motion around the rotation axis of the controllable turntable 20 in the water chamber 11 of the circular water pool 10. During this process, the central control computer 40 can obtain the actual rotation angular velocity of the speed measuring sonar 200. , and according to the actual rotation angular velocity of the speed measuring sonar 200 and the horizontal distance between the velocity measuring sonar 200 and the rotation axis of the controllable turntable 20 , calculate the actual linear velocity of the velocity measuring sonar 200 , the actual rotation angular velocity of the speed measuring sonar 200 , actual linear velocity and the horizontal distance between the velocity measuring sonar 200 and the rotation axis of the controllable turntable 20 Satisfies the relationship: During the period from when the central control computer 40 controls the controllable turntable 20 to drive the horizontal arm 30 to rotate to when the central control computer 40 controls the controllable turntable 20 to stop rotating, the speed measuring sonar 200 collects a total of Speed ​​test data , The central control computer 40 collects The actual movement speed data of the speed measuring sonar 200 , , then, find Speed ​​test data Average value and Actual movement speed data Average value , to obtain the velocity measurement accuracy calibration result of the velocity measurement sonar 200 , the speed measurement accuracy calibration result of the speed measurement sonar 200 ,average value and average Satisfies the relationship: .

[0055] Compared to existing solutions that require open water and the use of high-precision attitude sensors and high-precision satellite positioning systems, the calibration device 100 of the present invention converts the linear velocity of the velocity sonar 200 into an angular velocity. This method utilizes only the constant rotation of the controllable turntable 20 and the measurement of the actual angular velocity of the velocity sonar 200 to calibrate the velocity measurement accuracy of the velocity sonar 200. It can be appreciated that the calibration device 100 of the present invention not only significantly reduces site space requirements and technical difficulty, but also, due to the small size of the water chamber 11 of the circular pool 10, enables rapid adjustment of the hydrological parameters of the water contained within the water chamber 11. For example, parameters such as the temperature, salinity, and turbidity of the water contained within the water chamber 11 of the circular pool 10 can be quickly adjusted, simulating a more realistic environment to calibrate the velocity measurement accuracy of the velocity sonar 200 and improving calibration confidence.

[0056] Continue to refer to the attached Figures 1 to 6 The controllable turntable 20 includes an assembly disk 21, at least one assembly arm 22, a drive motor 23, and a rotating shaft 24. One end of the assembly arm 22 is fixedly mounted on the assembly disk 21, and the other end of the assembly arm 22 is fixedly mounted on the edge of the circular pool 10 to suspend the assembly disk 21 at the cavity opening of the pool cavity 11 of the circular pool 10. The drive motor 23 is mounted on the assembly disk 21, and the top of the rotating shaft 24 is drivably mounted on the rotor 231 of the drive motor 23. The bottom of the rotating shaft 24 extends toward the bottom of the pool cavity 11 of the circular pool 10, wherein the fixed end 31 of the horizontal arm 30 is fixedly mounted on the rotating shaft 24. In this way, the controllable turntable 20 is used to keep the horizontal arm 30 in the pool cavity 11 of the circular pool 10 and can drive the horizontal arm 30 to rotate in the pool cavity 11 of the circular pool 10.

[0057] Specifically, the drive motor 23 of the controllable turntable 20 is controllably connected to the central control computer 40. For example, opposite ends of a watertight cable can be connected to the drive motor 23 and the central control computer 40, respectively. When the central control computer 40 controls the rotor 231 of the drive motor 23 to rotate, the rotor 231 of the drive motor 23 drives the rotating shaft 24 to rotate synchronously, and the rotating shaft 24 drives the horizontal arm 30 to rotate. During this process, the horizontal arm 30 drives the velocity measuring sonar 200 mounted on the mounting end 32 of the horizontal arm 30 to rotate around the rotation axis of the rotating shaft 24. It will be understood that the rotation axis of the rotating shaft 24 is the rotation axis of the controllable turntable 20.

[0058] In a specific example of the calibration and marking device 100 of the present invention, the number of the assembly arms 22 of the controllable turntable 20 can be three, and the three assembly arms 22 are of the same size and evenly distributed, so as to stably suspend the assembly disk 21 at the cavity mouth of the pool cavity 11 of the circular pool 10, and make the central axis of the assembly disk 21, the central axis of the circular pool 10 and the rotation axis of the rotating shaft 24 coincide. When the drive motor 23 drives the rotating shaft 24 to rotate around its own rotation axis, the three assembly arms 22 cooperate with each other to avoid the shaking of the assembly disk 21, thereby ensuring that the rotation axis of the rotating shaft 24 is stable, which is crucial for ensuring that the speed measuring sonar 200 performs circular motion. It is understandable that in other examples of the calibration and marking device 100 of the present invention, the number of the assembly arms 22 may also exceed three.

[0059] In addition, the installation method of one end of the assembly arm 22 and the assembly disk 21 is not limited in the calibration and marking device 100 of the present invention. For example, in some embodiments, one end of the assembly arm 22 can be fixedly mounted on the assembly disk 21 by a screw. Optionally, in other embodiments of the calibration and marking device 100 of the present invention, the end of the assembly arm 22 can also be welded to the assembly disk 21, or the assembly arm 22 and the assembly disk 21 are integral. Accordingly, in a specific example of the calibration and marking device 100 of the present invention, the other end of the assembly arm 22 can be fixedly mounted on the edge of the circular pool 10 by a screw.

[0060] Reference Attachment Figure 4 、 Figure 5 and Figure 6 The controllable turntable 20 further includes at least one flange 25 and at least one bearing 26. The flange 25 is fixedly mounted on the bottom of the circular pool 10. For example, a screw can be used to fixedly mount the flange 25 on the bottom of the circular pool 10. The bearing 26 is configured to connect the flange 25 to the bottom of the rotating shaft 24. In this way, on the one hand, it is beneficial to ensure the stability of the rotation axis of the rotating shaft 24. On the other hand, the driving motor 23 can smoothly drive the rotating shaft 24 to rotate and ensure the stability of the rotation speed of the rotating shaft 24. Preferably, there is a gap between the bottom of the rotating shaft 24 and the circular pool 10 to avoid the problem of mutual friction and collision between the bottom of the rotating shaft 24 and the circular pool 10.

[0061] Specifically, the flange 25 has a flange groove 251, and the bearing 26 includes a bearing inner ring 261, a bearing outer ring 262 that is sleeved on the outside of the bearing inner ring 261, and a group of balls 263 located between the bearing inner ring 261 and the bearing outer ring 262. The outer diameter size of the bearing outer ring 262 of the bearing 26 matches the inner diameter size of the flange 25, so that the bearing outer ring 262 of the bearing 26 can be clamped into the flange groove 251 of the flange 25, thereby installing the bearing 26 on the flange 25. The inner diameter size of the bearing inner ring 261 of the bearing 26 is consistent with the outer diameter size of the bottom of the rotating shaft 24. The bearing inner ring 261 of the bearing 26 is sleeved on the bottom of the rotating shaft 24, thereby installing the bearing 26 on the bottom of the rotating shaft 24. In this way, the bearing 26 is configured to connect the flange 25 and the bottom of the rotating shaft 24.

[0062] In addition, the top of the rotating shaft 24 can also be connected to the assembly disk 21 through a bearing 26. This is not only conducive to ensuring the stability of the rotating axis of the rotating shaft 24, but also the driving motor 23 can smoothly drive the rotating shaft 24 to rotate and ensure the stability of the rotation speed of the rotating shaft 24. Specifically, the assembly disk 21 has a disk groove 211 with a bottom opening and a disk hole 212 connected to the disk groove 211. The driving motor 23 is fixedly mounted on the top of the assembly disk 21 in such a manner that the rotor 231 of the driving motor 23 passes through the disk hole 212 of the assembly disk 21. For example, a screw can be used to mount the driving motor 23 on the assembly disk 21. The top of the rotating shaft 24 has a blind hole 241. The rotor 231 of the driving motor 23 is inserted into the blind hole 241 of the rotating shaft 24 to be rotatably mounted on the rotating shaft 24 and the rotor 231 of the driving motor 23. The bearing The outer diameter of the bearing outer ring 262 of the bearing 26 matches the inner diameter of the disc groove 211 of the assembly disk 21, so that the bearing outer ring 262 of the bearing 26 can be inserted into the disc groove 211 of the assembly disk 21, thereby installing the bearing 26 on the assembly disk 21, and the inner diameter of the bearing inner ring 261 of the bearing 26 is consistent with the size of the top of the rotating shaft 24. The bearing inner ring 261 of the bearing 26 is fitted onto the top of the rotating shaft 24, thereby installing the bearing 26 on the top of the rotating shaft 24. In this way, the bearing 26 is configured to connect the assembly disk 21 and the top of the rotating shaft 24.

[0063] Continue to refer to the attached Figures 1 to 5The rotating shaft 24 has a protrusion 242 at the upper middle portion thereof for fixing the fixed end 31 of the horizontal arm 30 to the rotating shaft 24. For example, in a specific embodiment of the calibration device 100 of the present invention, a screw can be used to install the fixed end 31 of the horizontal arm 30 to the protrusion 242 of the rotating shaft 24. Preferably, the protrusion 242 of the rotating shaft 24 is a ring that surrounds the rotating shaft 24.

[0064] Furthermore, the calibration device 100 includes an assembly portion 50, the top of which is mounted on the mounting end 32 of the horizontal arm 30, and the bottom of which is used to mount the velocity measuring sonar 200, so that the velocity measuring sonar 200 is mounted on the mounting end 32 of the horizontal arm 30 via the assembly portion 50. In the calibration device 100 of the present invention, the assembly portion 50 is streamlined, so that when the horizontal arm 30 drives the assembly portion 50 and the velocity measuring sonar 200 to rotate, the water flow resistance under high-speed motion can be effectively reduced, thereby facilitating improved calibration accuracy of the velocity measuring sonar 200.

[0065] Specifically, the assembly portion 50 includes an assembly plate 51 and an assembly column 52 extending upward from the assembly plate 51, wherein the top of the assembly column 52 is mounted on the mounting end 32 of the horizontal arm 30, for example, a screw can be used to mount the top of the assembly column 52 on the mounting end 32 of the horizontal arm 30, wherein the speed measuring sonar 200 is mounted on the bottom of the assembly plate 51, for example, a screw can be used to mount the speed measuring sonar 200 on the bottom of the assembly plate 51, so that the speed measuring sonar 200 is mounted on the mounting end 32 of the horizontal arm 30 through the assembly portion 50, as shown in FIG. Figure 1 、 Figure 3 and Figure 7 As shown, in the forward direction of the velocity measuring sonar 200, the mounting plate 51 has a triangular water-breaking guide 511, giving the mounting portion 50 a streamlined shape. It will be appreciated that, because the velocity measuring sonar 200 is directly mounted on the mounting plate 51, the water-breaking guide 511 is adjacent to the velocity measuring sonar 200 and located diagonally above it. Thus, when the horizontal arm 30 drives the mounting portion 50 and the velocity measuring sonar 200 to rotate, the water-breaking guide 511 of the mounting plate 51 can effectively reduce water flow resistance during high-speed motion, thereby facilitating improved calibration accuracy of the velocity measuring sonar 200.

[0066] In order to obtain the actual rotation angular velocity of the speed measuring sonar 200 In the calibration device 100 of the present invention, the calibration device 100 further includes an angular velocity measurement unit 60, which includes an angular velocity sensor 61. The angular velocity sensor 61 is installed on the inner wall of the circular pool 10. When the horizontal arm 30 drives the assembly part 50 and the velocity measuring sonar 200 to rotate, the angular velocity sensor 61 can measure the actual rotational angular velocity of the velocity measuring sonar 200 by optical detection and counting. and sends it to the central control computer 40. That is, the angular velocity sensor 61 is connected to the central control computer 40. For example, the angular velocity sensor 61 can be connected to the central control computer 40 through a watertight cable.

[0067] It is worth mentioning that the specific manner of mounting the angular velocity sensor 61 on the inner wall of the circular pool 10 is not limited in the calibration device 100 of the present invention. For example, in this specific example of the calibration device 100 of the present invention, refer to the attached Figure 1 and Figure 7 The calibration device 100 further includes a fixing bracket 70, the angular velocity sensor 61 is mounted on the fixing bracket 70, and the fixing bracket 70 is mounted on the inner wall of the circular pool 10, so that the angular velocity sensor 61 is mounted on the inner wall of the circular pool 10 by the fixing bracket 70. For example, a screw can be used to mount the angular velocity sensor 61 on the fixing bracket 70, and a screw can be used to mount the fixing bracket 70 on the inner wall of the circular pool 10. Preferably, the height of the angular velocity sensor 61 is consistent with the height of the velocity measuring sonar 200, so that when the horizontal arm 30 drives the assembly part 50 and the velocity measuring sonar 200 to rotate, the angular velocity sensor 61 can measure the actual rotational angular velocity of the velocity measuring sonar 200. .

[0068] The calibration process of the velocity measuring sonar 200 using the calibration device 100 of the present invention can be as follows: first, the velocity measuring sonar 200 is mounted on the mounting end 32 of the horizontal arm 30 through the assembly portion 50, ensuring that the velocity measuring sonar 200 is immersed in the water of the pool cavity 11 contained in the circular pool 10, and the horizontal distance between the velocity measuring sonar 200 and the rotation axis of the controllable turntable 20 is recorded. ; Secondly, the speed measuring sonar 200 is powered on, and after setting appropriate working parameters, the speed measuring function is turned on and the speed measurement data is recorded; thirdly, the central control computer 40 is used to set the rotational angular velocity of the rotor 231 of the drive motor 23 of the controllable turntable 20, and the rotor 231 of the drive motor 23 is controlled to rotate, and the rotor 231 of the drive motor 23 drives the rotating shaft 24 to rotate, and the rotating shaft 24 drives the horizontal arm 30 to rotate, and the horizontal arm 30 drives the assembly part 50 and the speed measuring sonar 200 to rotate, and the angular velocity sensor 61 measures the actual rotational angular velocity of the speed measuring sonar 200 and sends it to the central control computer 40, which calculates the actual rotation angular velocity of the speed measuring sonar 200 according to the actual rotation angular velocity of the speed measuring sonar 200. and the horizontal distance between the velocity measuring sonar 200 and the rotation axis of the controllable turntable 20 , calculate the actual linear velocity of the velocity measuring sonar 200 ,in Fourth, after a period of operation, the central control computer 40 can control the rotor 231 of the drive motor 23 of the controllable turntable 20 to stop. During this period, the speed measuring sonar 200 collects a total of Speed ​​test data , The central control computer 40 collects The actual movement speed data of the speed measuring sonar 200 , Fifth, during the entire test process, the rotor 231 of the drive motor 23 of the controllable turntable 20 undergoes a process of gradual acceleration, steady speed, and gradual deceleration to a stop. Therefore, in order to ensure the accuracy of the calibration of the speed measuring sonar 200, the speed measurement data of the controllable turntable during the period of driving the horizontal arm to rotate stably are selected. and actual movement speed data To find the average value, we get Speed ​​test data Average value and Actual movement speed data Average value , and finally obtain the speed measurement accuracy calibration result of the speed measurement sonar 200 ,in .

[0069] In the calibration device 100 of the present invention, the central control computer 40 can control the rotor 231 of the drive motor 23 of the controllable turntable 20 to have different rotational speeds, thereby calibrating the speed measurement accuracy of the speed measuring sonar 200 at different speeds. Furthermore, by varying the water temperature, salinity, turbidity, and other parameters of the water contained in the water chamber 11 of the circular pool 10 and measuring the actual water temperature using water temperature, salinity, and turbidity sensors, the speed measurement accuracy of the speed measuring sonar 200 can be calibrated under specific hydrological conditions.

[0070] According to another aspect of the present invention, the present invention further provides a calibration method for calibrating the velocity measuring sonar 200, wherein the calibration method comprises the following steps:

[0071] S1, the central control computer controls the controllable turntable to drive the horizontal arm to rotate, and during the rotation process, the horizontal arm drives the speed measuring sonar to perform circular motion around the rotation axis of the controllable turntable in the water cavity of the circular pool;

[0072] S2, measuring the actual rotational angular velocity of the speed measuring sonar ;

[0073] S3, according to the actual rotation angular velocity of the speed measuring sonar and the horizontal distance between the velocity measuring sonar and the rotation axis of the controllable turntable , calculate the actual linear velocity of the velocity measuring sonar ,in ;

[0074] S4, during the period from the central control computer controlling the controllable turntable to drive the horizontal arm to rotate to the central control computer controlling the controllable turntable to stop rotating, the speed measuring sonar collects a total of Speed ​​test data , , the central control computer collects The actual movement speed data of the speed measuring sonar , ;

[0075] S5, seek Speed ​​test data Average value and Actual movement speed data Average value , to obtain the speed measurement accuracy calibration result of the speed measurement sonar ,in .

[0076] Compared to existing solutions that require open water and the use of high-precision attitude sensors and high-precision satellite positioning systems, the calibration method of the present invention converts the linear velocity of the velocity sonar 200 into an angular velocity. This method utilizes only the constant rotation of the controllable turntable 20 and the measurement of the actual angular velocity of the velocity sonar 200 to calibrate the velocity accuracy of the velocity sonar 200. As can be appreciated, the calibration method of the present invention not only significantly reduces site space requirements and technical difficulty, but also, due to the small size of the water chamber 11 of the circular pool 10, enables rapid adjustment of the hydrological parameters of the water contained within the water chamber 11. For example, parameters such as the temperature, salinity, and turbidity of the water contained within the water chamber 11 can be quickly adjusted, simulating a more realistic environment to calibrate the velocity accuracy of the velocity sonar 200 and improving calibration confidence.

[0077] Attachment Figure 8 and Figure 9 The calibration device 100 of the present invention is a modified example shown in FIG. Figures 1 to 7 The calibration device 100 shown is different in that Figure 8 and Figure 9 In the specific example of the calibration device 100 shown, the angular velocity measuring unit 60 includes a magnet 62 and a Hall element 63. The magnet 62 is provided on the horizontal arm 30, and the Hall element 63 is provided on the assembly arm 22 and is connected to the central control computer 40. The position of the Hall element 63 corresponds to the position of the magnet 62. When the horizontal arm 30 drives the assembly part 50 and the speed measuring sonar 200 to rotate, the Hall element 63 can generate a signal and transmit it to the central control computer 40 to realize the actual rotational angular velocity of the speed measuring sonar 200. measurement.

[0078] Furthermore, the magnet 62 is disposed on the upper surface of the horizontal arm 30, and the Hall element 63 is disposed on the lower surface of the assembly arm 22. Thus, after the horizontal arm 30 rotates to a position where the magnet 62 and the Hall element 63 face each other in the height direction, a small gap can be provided between the magnet 62 and the Hall element 63, allowing the Hall element 63 to generate a signal. Preferably, the assembly arm 22 has a wire threading hole 221 through which wires connected to the Hall element 63 can pass.

[0079] Those skilled in the art will appreciate that the embodiments of the present invention described above and shown in the accompanying drawings are intended to be illustrative only and are not intended to limit the present invention. The objectives of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and illustrated in the embodiments. Any variations or modifications may be made to the embodiments of the present invention without departing from the principles described.

Claims

1. A calibration method for a velocity measuring sonar, characterized in that: The calibration method comprises the following steps: S1. The central control computer controls the controllable turntable to drive the horizontal arm to rotate. During the rotation process, the horizontal arm drives the speed measuring sonar to perform circular motion around the rotation axis of the controllable turntable in the water cavity of the circular pool. The speed measuring sonar is mounted on the horizontal arm via an assembly portion. The assembly portion includes an assembly plate and an assembly column extending upward from the assembly plate. The assembly column is mounted on the mounting end of the horizontal arm. The speed measuring sonar is mounted on the bottom of the assembly plate. In the forward direction of the speed measuring sonar, the assembly plate has a triangular water-breaking diversion portion. The water-breaking diversion portion is adjacent to the speed measuring sonar and is located obliquely above the speed measuring sonar. S2, measuring the actual rotational angular velocity of the speed measuring sonar ; S3, according to the actual rotation angular velocity of the speed measuring sonar and the horizontal distance between the velocity measuring sonar and the rotation axis of the controllable turntable , calculate the actual linear velocity of the velocity measuring sonar ,in ; S4, during the period from the central control computer controlling the controllable turntable to drive the horizontal arm to rotate to the central control computer controlling the controllable turntable to stop rotating, the speed measuring sonar collects a total of Speed ​​test data , , the central control computer collects The actual movement speed data of the speed measuring sonar , ; S5, seek Speed ​​test data Average value and Actual movement speed data Average value , to obtain the speed measurement accuracy calibration result of the speed measurement sonar ,in .

2. The calibration method according to claim 1, wherein: In step S2, the actual rotational angular velocity of the speed measuring sonar is measured by an angular velocity sensor fixedly mounted on the inner wall of the circular pool. .

3. The calibration method according to claim 1, wherein: In step S2, the actual rotational angular velocity of the speed measuring sonar is measured by the Hall sensor provided on the assembly arm of the controllable turntable and the magnet provided on the horizontal arm. .

4. The calibration method according to claim 1, wherein: In step S5, the speed data of the controllable turntable during the period of driving the horizontal arm to rotate stably is selected. and actual movement speed data To find the average value.

5. The calibration device of the speed measuring sonar is characterized by: include: A circular pool, wherein the circular pool has a pool cavity; A controllable turntable, wherein the controllable turntable is disposed in the circular pool, and at least a portion of the controllable turntable is sunk into the pool cavity of the circular pool; an assembly portion, wherein the assembly portion includes an assembly plate and an assembly column extending upward from the assembly plate; A horizontal arm, wherein one end of the horizontal arm is drivably mounted on the controllable turntable, the other end of the horizontal arm is used to mount the top of the assembly column, the speed measuring sonar is mounted on the bottom of the assembly plate, in the forward direction of the speed measuring sonar, the assembly plate has a triangular water-breaking guide portion, the water-breaking guide portion is adjacent to the speed measuring sonar and is located obliquely above the speed measuring sonar, and the horizontal arm is located in the water pool cavity of the circular pool, wherein the controllable turntable is configured to drive the horizontal arm to rotate, and during the rotation process, the horizontal arm drives the speed measuring sonar to perform circular motion around the rotation axis of the controllable turntable in the water pool cavity of the circular pool.

6. The calibration device according to claim 5, characterized in that: The controllable turntable includes an assembly disk, an assembly arm, a drive motor and a rotating shaft. One end of the assembly arm is fixedly mounted on the assembly disk, and the other end is fixedly mounted on the edge of the circular pool to suspend the assembly disk at the mouth of the pool cavity of the circular pool. The drive motor is mounted on the assembly disk, and the top of the rotating shaft is drivably mounted on the rotor of the drive motor. The bottom of the rotating shaft extends toward the bottom of the pool cavity of the circular pool, wherein one end of the horizontal arm is fixedly mounted on the rotating shaft.

7. The calibration device according to claim 6, characterized in that: The controllable turntable includes a bearing, the bottom of the rotating shaft is mounted on the bottom of the circular pool through the bearing, and the top of the rotating shaft is mounted on the assembly disk through the bearing.

8. The calibration device according to claim 5, characterized in that: The calibration device includes an angular velocity measuring unit, which includes an angular velocity sensor. The angular velocity sensor is fixedly installed on the inner wall of the circular pool and is used to measure the actual rotational angular velocity of the speed measuring sonar, wherein the height of the angular velocity sensor is consistent with the height of the speed measuring sonar.

9. The calibration device according to claim 6, characterized in that: The calibration device includes an angular velocity measurement unit, which includes a magnet and a Hall sensor. The magnet is arranged on the horizontal arm, the Hall sensor is arranged on the assembly arm, and the position of the magnet corresponds to the position of the Hall sensor.

10. The calibration device according to claim 8, characterized in that: The calibration device includes a fixing bracket, the angular velocity sensor is mounted on the fixing bracket, and the fixing bracket is mounted on the inner wall of the circular pool, so that the angular velocity sensor is mounted on the inner wall of the circular pool by the fixing bracket.

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