Method and system for regulating and controlling position of underwater target object

Abstract

The invention discloses a method and system for regulating and controlling the position of an underwater target object, and relates to the technical field of positioning control. The method is executed at a surveying vessel control end and comprises the following steps: sending a positioning signal to a floating platform end so as to trigger the floating platform end to position a target object and obtain a positioning position of the target object; receiving the positioning position of the target object sent by the floating platform end; based on the positioning position of the target object, the target position of the target object, the positions of the two rope controllers arranged on the floating platform and the radius of the rope collector, the rotation angles of the two rope controllers are calculated; and the rotating angles of the two rope controllers are sent to the floating platform end, so that the floating platform end controls the rope collecting device through the rope controllers according to the received rotating angles, the rope is regulated and controlled to contract, and the target object is moved to the target position. According to the invention, the position of the target object can be accurately positioned, and the target object can be accurately regulated to the target position.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning control, and particularly relates to a method and a system for regulating the position of an underwater target object. Background Art

[0002] The underwater shock resistance test is an important ship test, aiming to evaluate and verify the survivability and structural integrity of a ship when it is subjected to underwater explosion shock. Generally, a certain amount of explosives is set at a safe distance around the ship and detonated underwater. The accuracy of the placement of the explosives affects the effect of the underwater shock resistance test. Since the explosives float in water and the water flow will affect the position of the explosives, there are many difficulties in placing the explosives at the target position. Summary of the Invention

[0003] In view of the above technical problems, the present invention proposes a solution for regulating the position of an underwater target object.

[0004] In the first aspect of the present invention, a method for regulating the position of an underwater target object is disclosed. The method uses a position regulation system to achieve the position regulation of a target object located underwater.

[0005] The position regulation system includes: a survey ship on one side of the water surface, a survey ship control terminal provided on the survey ship, a floating platform on the other side of the water surface, a floating platform terminal provided on the floating platform, a buoy on the other side of the water surface, a target object connected to the buoy, two rope controllers and a rope winch provided on the floating platform; wherein, the buoy is connected to the floating platform by a rope.

[0006] The method is executed on the survey ship control terminal and specifically includes: sending a positioning signal to the floating platform terminal to trigger the floating platform terminal to position the target object and obtain the positioning position of the target object; receiving the positioning position of the target object sent by the floating platform terminal; calculating the rotation angles of the two rope controllers based on the positioning position of the target object, the target position of the target object, the positions of the two rope controllers provided on the floating platform, and the radius of the rope winch; sending the rotation angles of the two rope controllers to the floating platform terminal, so that the floating platform terminal controls the rope winch through the rope controllers according to the received rotation angles to regulate the rope contraction, thereby moving the target object to the target position.

[0007] According to the method of the first aspect of the present invention, the positioning signal is sent to the floating platform terminal to trigger the floating platform terminal to perform the positioning of the target object once every fixed time interval and obtain the positioning position of the target object.

[0008] For the method according to the first aspect of the present invention, calculating the rotation angles of the two rope controllers specifically includes: based on the positioning position of the target object, the target position, and the positions of the two rope controllers, calculating the contraction amounts of the ropes respectively connecting the two rope controllers to the target object; based on the contraction amounts of the ropes respectively connecting the two rope controllers to the target object and the radius of the rope winch, calculating the rotation angles of the two rope controllers.

[0009] For the method according to the first aspect of the present invention, after moving the target object to the target position, the method further includes: obtaining a new positioning position of the target object; if the new positioning position is different from the target position, recalculating the rotation angles of the two rope controllers, and sending the recalculated rotation angles of the two rope controllers to the floating platform end, so that the floating platform end controls the rope winch through the rope controllers according to the recalculated rotation angles of the two rope controllers, and regulates the rope contraction again to move the target object to the target position.

[0010] The second aspect of the present invention discloses a method for regulating the position of an underwater target object, and the method uses a position regulation system to achieve the position regulation of the target object located underwater.

[0011] The position regulation system includes: a survey ship on one side of the water surface, a survey ship control end provided on the survey ship, a floating platform on the other side of the water surface, a floating platform end provided on the floating platform, a float on the other side of the water surface, a target object connected to the float, two rope controllers and a rope winch provided on the floating platform; wherein, the float is connected to the floating platform by a rope.

[0012] The method is executed on the floating platform end, and specifically includes: based on the positioning signal received from the survey ship control end, positioning the target object and obtaining the positioning position of the target object; sending the positioning position of the target object to the survey ship control end, so that the survey ship control end calculates the rotation angles of the two rope controllers based on the positioning position of the target object, the target position of the target object, the positions of the two rope controllers provided on the floating platform, and the radius of the rope winch; based on the rotation angles of the two rope controllers received from the survey ship control end, controlling the rope winch through the rope controllers to regulate the rope contraction, so as to move the target object to the target position.

[0013] According to the method of the second aspect of the present invention, a transponder is provided on the target object; the floating platform is provided with two acoustic arrays extending into the water; in the method, positioning the target object includes: in response to the positioning signal, the floating platform end controls the two acoustic arrays to emit acoustic signals towards the target object; the transponder on the target object receives the acoustic signals and makes a response, and feeds back the response acoustic signals to the two acoustic arrays; the two acoustic arrays at the floating platform end receive the response acoustic signals of the target object; the floating platform end calculates the distances from each of the two acoustic arrays to the target object based on the transmission time of the transmitted acoustic signal, the reception time of the response acoustic signal, and the acoustic propagation speed; the positions of the two acoustic arrays and the distances from each of the two acoustic arrays to the target object are used to calculate the positioning position of the target object.

[0014] According to the method of the second aspect of the present invention, the method further includes: receiving again the new rotation angles of the two rope controllers sent by the control end of the measurement ship; according to the new rotation angles of the two rope controllers, controlling the rope retractor again through the rope controllers at their respective new rotation angles to regulate the rope contraction again, and moving the target object to the target position.

[0015] According to the method of the second aspect of the present invention, the method further includes: receiving a stop positioning signal sent by the control end of the measurement ship, and stopping positioning the target object based on the stop positioning signal.

[0016] The present invention can accurately locate the position of the target object and accurately regulate the target object to the target position to meet the requirement of placing explosives at the target position in the offshore shock test. Description of the Drawings

[0017] 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 use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description 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.

[0018] Figure 1 It is a schematic diagram of the scenario environment according to an embodiment of the present invention.

[0019] Figure 2 It is a flowchart of a method for regulating the position of an underwater target object (executed at the control end of the measurement ship) according to an embodiment of the present invention.

[0020] Figure 3 It is a schematic diagram of the calculation principle of the contraction amount of the rope between the rope controller and the target object according to an embodiment of the present invention.

[0021] Figure 4 Flow chart of a method for controlling the position of an underwater target object (executed at the floating platform end) according to an embodiment of the present invention.

[0022] Figure 5 Situation map between the target object and the floating platform according to an embodiment of the present invention.

[0023] Figure 6 Schematic diagram of the calculation principle of the positioning position of the target object according to an embodiment of the present invention.

[0024] Figure 7 Schematic diagram of a system for controlling the position of an underwater target object according to an embodiment of the present invention. Detailed implementation manners

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are only a part rather than 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.

[0026] In the offshore shock resistance test, to ensure that the test intensity reaches the predetermined target and ensure the test safety, it is necessary to accurately master the relative position between the test platform and the underwater target. Since there is a current underwater, it will cause the position of the underwater target to change, making it impossible to accurately locate and even more impossible to control the target object to the target position.

[0027] Based on this, the present invention discloses a method for controlling the position of an underwater target object. Through two-way communication between a ship (i.e., the measurement ship in this specification) and a test platform (i.e., the floating platform in this specification), the ship can obtain the positioning position of the target object connected to the test platform, and the ship can calculate the rotation angles of two rope controllers based on the positioning position of the target object, the target position, the positions of the two rope controllers provided on the test platform, and the radius of the rope winch. Then, the test platform is made to control the two rope controllers to take in and release the ropes at their respective rotation angles to drive the target object to move to the target position.

[0028] In this way, the test platform can locate the position of the target object in a timely manner nearby and feedback it to the ship at a distance. The ship calculates based on the located position, calculates the rotation angle at a distance and sends it to the floating platform end. The rope controller of the floating platform can adjust the contraction amount of the rope according to the rotation angle to adjust the target object to the target position. Calculating the located position and the rotation angle separately at both ends can improve the operation efficiency. After locating the position of the target object, the rotation angle can be calculated and adjusted. And when the rope controller adjusts according to the rotation angle, the located result after adjustment can be obtained in real time, which is convenient for observing whether the target position adjustment is in place and making timely corrections to the situation where the adjustment is not in place.

[0029] As Figure 1 shown, the environment 100 includes a survey ship 104, and the survey ship 104 is located on one side of the water surface 102. A survey ship control terminal 112 is arranged on the survey ship 104, and the survey ship control terminal 112 can be a control device with communication functions or a control device including a host and a communication device. The environment 100 further includes a floating platform 106, and the floating platform 106 is located on the other side of the water surface 102. The floating platform 106 is provided with a floating platform end 111, and the floating platform end 111 can be a control device with communication functions or a control device including a control unit, a communication device, and a host. The environment 100 further includes a target object 110, and the target object 110 is placed in the water, one end of which is connected to a float 108, and the float 108 is connected to the floating platform 106 through a rope.

[0030] As Figure 1 shown, the survey ship 104 sends a positioning signal to the floating platform 106 through the survey ship control terminal 112. The floating platform end on the floating platform 106 locates the target object 110 according to the positioning signal, determines the located position of the target object 110 and sends it to the survey ship control terminal 112. The survey ship control terminal 112 displays the received located position on the interface of the control terminal. Based on the test purpose, the survey ship control terminal 112 calculates the rotation angle of the controller for controlling the rope contraction according to the target position of the target object and the located position of the target object, and combines the parameters related to the rope contraction for adjusting the movement of the target object, and sends it to the floating platform end 111. The floating platform end 111 controls the rope contraction according to the received rotation angle, and then moves the target object 110 to the target position shown by the dotted line.

[0031] In some embodiments, according to the requirements of the shock resistance test, the target object 110 can be an explosive. In some embodiments, according to other test requirements, the target object 110 can also be other objects that need to locate the position and need to adjust the position.

[0032] As Figure 3 shown, the method 200 can be performed by Figure 1The measurement ship control terminal 112 in the shown environment 100 executes. At block 202, method 200 may send a positioning signal to the floating platform terminal to trigger the floating platform terminal to position the target object and obtain the positioning location of the target object. In some embodiments, the measurement ship control terminal sends a positioning signal to the floating platform terminal, and the floating platform terminal may perform positioning once every certain time. Each time positioning is performed, the obtained positioning location of the target object is fed back to the measurement ship control terminal. For example, positioning can be performed once every 1 second, or the time can be set as needed.

[0033] As Figure 2 shown, at block 204, method 200 may receive the positioning location of the target object sent by the floating platform terminal. In some embodiments, the measurement ship control terminal receives the positioning location sent by the floating platform terminal at intervals. In some embodiments, the measurement ship control terminal sends a stop positioning signal to the measurement ship control terminal, and then the measurement ship control terminal no longer continues to position. Then the measurement ship control terminal no longer receives the positioning location of the target object sent by the floating platform terminal.

[0034] As Figure 2 shown, at block 206, method 200 may calculate the rotation angles of the two rope controllers based on the positioning location of the target object, the target location of the target object, the positions of the two rope controllers provided on the floating platform, and the radius of the rope winch. The target location of the target object is pre-calculated according to each test condition and set in the measurement ship control terminal. The positions of the two rope controllers are pre-converted based on the floating platform center position with coordinates (0, 0, 0), the size of the floating platform, and the positions where the rope controllers are placed on the floating platform, and set in the measurement ship control terminal. The radius of the rope winch is pre-set in the measurement ship control terminal according to the set specifications of the rope winch. In some embodiments, the measurement ship control terminal first constructs a first distance formula between the target object at the positioning location and the two rope controllers based on the positioning location of the target object and the positions of the two rope controllers provided on the floating platform, and constructs a second distance formula between the target object at the target location and the two rope controllers based on the target location of the target object and the positions of the two rope controllers provided on the floating platform. Then, by calculating the difference between the first distance and the second distance, the contraction amount of the ropes controlled by the two rope controllers can be obtained. Finally, based on the contraction amount of the ropes controlled by the rope controllers and the radius of the rope winch, the rotation angles of the rope controllers are calculated.

[0035] As Figure 2As shown, at block 208, method 200 may send the rotation angles of two rope controllers to the floating platform side, so that the floating platform side can control the two rope controllers to retract and release the ropes between the rope controllers and the target object at their respective rotation angles, so as to adjust the target object to the target position. In some embodiments, the two rope controllers rotate according to the rotation angles sent by the measurement ship control end, and the position of the target object gradually changes until the rotation is completed and a new position is reached. This new position may be the target position of the target object or another position closer to the target position. In some embodiments, after the rotation is completed and a new position is reached, method 200 may send the new position to the measurement ship control end. When the measurement ship control end compares that the new position is different from the target position, it sets a new rotation angle according to the operator's experience and the magnitude of the on-site wind and current, and sends it to the floating platform side. The floating platform side makes fine adjustments based on the new rotation angle, continues to rotate and adjust the rope retraction amount, so as to adjust the target object from another position closer to the target position to the target position. During this process, the rotation angle set by the operator can be adjusted once or multiple times until the target position is reached. In some embodiments, when the measurement ship control end compares that the new position is different from the target position, it can obtain the rotation angle related to the wind volume according to the on-site wind volume size, and this rotation angle is pre-stored in the measurement ship control end according to the wind volume size. The floating platform side makes fine adjustments according to the new rotation angle sent by the measurement ship control end.

[0036] In this way, the measurement ship control end can perform remote position regulation when obtaining the current position of the target object. This method calculates the rotation angle of the rope controller based on the distance difference between the target object and the rope controller at the current position and the target position, and the radius of the rope winch, so that the target object can be adjusted to the target position or close to the target position when the rope controller rotates at this rotation angle. After the target object is adjusted to a position close to the target position, this method can make fine adjustments in a preset parameter automatic mode or manual operation mode. Even affected by water flow and wind volume, the target object can be accurately adjusted to the target position.

[0037] As Figure 3 shown, in the calculation principle / method 300, two controllers 304-1 and 304-2 are arranged on the floating platform 302. The two controllers 304-1 and 304-2 can be arranged at both ends of the floating platform 302, and their coordinates are (x 01 , y 01 , z 01 ), (x 02 , y 02 , z 02)。The target object 306 at the current position has coordinates (x1, y1, z1). The distance between the target object 306 at the current position and the controller 304-1 is L11. The distance between the target object 306 at the current position and the controller 304-2 is L12. Based on this, the distance formulas for L11 and L12 can be established as follows:

[0038]

[0039] As Figure 3 shown, the target object 308 at the target position has coordinates (x0, y0, z0). The distance between the target object 308 at the target position and the controller 304-1 is L01. The distance between the target object 308 at the target position and the controller 304-2 is L02. Based on this, the distance formulas for L01 and L02 can be established as follows:

[0040]

[0041] When the rope is in a tensioned state, this distance is recognized as the length of the rope. After that, L 11 -L 01 can be calculated to obtain the contraction amount of the control rope of the controller 304-1. L 12 -L 02 can be calculated to obtain the contraction amount of the control rope of the controller 304-2. Finally, the rotation angles of the two rope controllers are obtained through the following formula:

[0042]

[0043] As Figure 4 shown, the method 400 can be executed by the floating platform end 111 in the environment 100 shown in Figure 1 . At block 402, the method 400 can locate the target object and obtain the positioning position of the target object based on the received positioning signal sent by the measurement ship control end. In some embodiments, in response to the positioning signal, the floating platform end controls two acoustic arrays provided on the floating platform and extending into the water to emit acoustic signals to the target object. A transponder is provided on the target object, which responds after receiving the acoustic signal emitted by the acoustic array and feeds back the response acoustic signal to the two acoustic arrays. The floating platform end calculates the distances from each of the two acoustic arrays to the target object based on the transmission time of the emitted acoustic signal, the reception time of the received response acoustic signal, and the sound propagation speed. After that, based on the positions of the two acoustic arrays and the distances from each of the two acoustic arrays to the target object, the positioning position of the target object is calculated. In this way, the floating platform is fixed on the water surface and there will be a certain degree of floating. Correspondingly, the acoustic arrays also float accordingly, and the finally located position is the position of the target object relative to the floating platform.

[0044] At block 404, the method 400 may send the positioning location of the target object to the measurement ship control terminal, so that the measurement ship control terminal can calculate the rotation angles of the two rope controllers based on the positioning location of the target object, the target location of the target object, the positions of the two rope controllers provided on the floating platform, and the radius of the rope winch. In some embodiments, the floating platform terminal calculates the positioning location once according to block 402 in response to the positioning signal for a certain period of time and returns the positioning location to the measurement ship control terminal once, so as to display the real-time positioning on the interface of the measurement ship control terminal. For the measurement ship control terminal, the rotation angle calculation can be performed based on the received positioning location of the target object at a certain time and other relevant parameters.

[0045] At block 406, the method 400 may control the two rope controllers to retract and release the ropes between the rope controllers and the target object at their respective rotation angles based on the received rotation angles of the two rope controllers sent by the measurement ship control terminal, so as to adjust the target object to the target location. In some embodiments, based on the rotation angles of the two rope controllers sent by the measurement ship control terminal, the two rope controllers rotate to contract the ropes, so that the distance between the target object and the two rope controllers is adjusted, and finally it can be adjusted to the target location. In some embodiments, based on the rotation angles of the two rope controllers sent by the measurement ship control terminal, the two rope controllers rotate to contract the ropes, so that the distance between the target object and the two rope controllers is adjusted, and finally it can be adjusted to another location close to the target location. The method 400 may also perform fine-tuning when receiving new rotation angles sent by the measurement ship control terminal again after rotation, and the fine-tuning can be performed once or multiple times until the target object reaches the target location.

[0046] In this way, the floating platform terminal can respond to the positioning signal of the measurement ship control terminal, use the sound propagation technology and the distance formula to determine the positioning location of the target object, and the determined location is the location of the target object relative to the floating platform, and this positioning is relatively accurate. In addition, the floating platform terminal can accurately adjust the position of the target object based on the rotation angle sent by the measurement ship control terminal and based on the accurate positioning location.

[0047] As Figure 5 shown, in the situation 500, two controllers 504-1 and 504-2 are provided on the floating platform 502, and acoustic arrays 506-1 and 506-2 are provided on the floating platform 502 and extend into the water through the deployment rods 508-1 and 508-2. It can be seen that the two acoustic arrays 5,061 and 5,062 are respectively arranged on the sides of different controllers 504-1 and 504-2. The target object 512 is located in the water and is connected to the float 510. The float 510 is connected to the controllers 504-1 and 504-2 through ropes 514-1 and 514-2. As Figure 5As shown, two acoustic arrays 506-1 and 506-2 respectively transmit acoustic signals to the target object 512. When the transponder on the target object 512 responds, the response acoustic signal is sent to the corresponding acoustic arrays 506-1 and 506-2. The floating platform end locates the target object 512 based on the acoustic paths between the acoustic arrays 506-1, 506-2 and the target object 512.

[0048] As Figure 6 shown, in the calculation principle / method 600, two acoustic arrays 604-1 and 604-2 are arranged on the floating platform 602, and their coordinates are (x 11 , y 11 , z 11 ) and (x 12 , y 12 , z 12 ), respectively. Among them, based on the central position coordinates (0, 0, 0) of the floating platform and the scale of the floating platform, the distances and positions of the deployed acoustic arrays from the center of the floating platform can be measured, and the length of the deployment rod determines the Z value of the acoustic array. The distance between the acoustic array 604-1 and the target object 606 at the current positioning position is D 01 , and the distance between the acoustic array 604-2 and the target object 606 at the current positioning position is D 02 . Among them, the distances D 01 and D 02 are calculated based on Figure 5 's situation map according to the acoustic principle.

[0049] In some embodiments, the floating platform end calculates the acoustic propagation time t through the time difference between the acoustic signal transmitted by the acoustic array and the received response acoustic signal. By testing with 2 acoustic arrays, the acoustic propagation time t1 from the acoustic array 604-1 to the target object 606 and the acoustic propagation time t2 from the acoustic array 604-2 to the target object 606 can be measured respectively. According to the acoustic propagation speed of s, the distance from the acoustic array to the target object can be calculated:

[0050]

[0051] In some embodiments, a circle is made with the acoustic array 604-1 as the center and a radius of D 01 , and a circle is made with the acoustic array 604-2 as the center and a radius of D 02 . The two circles intersect at two points, and the coordinates of the two points are (x1, y1, z1) and (x1', y1', z1'). There will be two target values, and the two target values are symmetric points with the line connecting the acoustic array 604-1 and the acoustic array 604-2 as the axis of symmetry. According to the actual deployment point on the right chord side of the array, the positioning result is taken as (x1, y1, z1).

[0052] In some embodiments, according to the positions of the acoustic arrays and the measured time delays, an equation is solved. Assuming the position to be located of the target object is (x, y, z), a distance formula is constructed as follows:

[0053]

[0054] Among them, the positions of two acoustic arrays are known, and the target depth value can be obtained through a depth sensor, that is, z is known. After solving, the target position results are (x1, y1, z1) and (x1', y1', z1'), and z1 = z1'. According to the actual deployment point on the starboard side of the acoustic array, the positioning result is Figure 6 the shown (x1, y1, z1).

[0055] As Figure 7 shown, the system 700 includes a survey ship 706, a survey control terminal 708 provided on the survey ship 706, a floating platform 702, and a floating platform terminal 704 provided inside the floating platform 702. Two rope controllers are arranged on the floating platform 702 to control the contraction amount of the ropes, so as to regulate the movement of the float 712, and further drive the target object 714 in the water to move to the target position.

[0056] As Figure 7 shown, the survey control terminal 708 includes a data radio, a switch, and a main control processing sub - machine. The main control processing sub - machine is used to send the positioning signal to the floating platform terminal 704 through the switch and the main control processing sub - machine. The floating platform terminal 704 includes a data radio, a switch, a floating platform measurement sub - machine, an acoustic processing unit, and a target position control unit. The floating platform measurement sub - machine locates the target object 714 according to the received positioning signal. The floating platform measurement sub - machine sends a positioning instruction to the acoustic processing unit, and the acoustic processing unit is used to control two acoustic arrays 710 - 1 and 710 - 2 provided on the floating platform to emit acoustic signals to the target object 714. If the transponder on the target object 714 responds, then the two acoustic arrays 710 - 1 and 710 - 2 receive their respective response acoustic signals. The acoustic processing unit feeds back the time of the emitted acoustic signal and the time of the response acoustic signal to the floating platform measurement sub - machine. The floating platform measurement sub - machine calculates the positioning position of the target object based on the Figure 6 shown positioning principle, and transmits it to the survey ship control terminal 708 through the switch and the data radio. The main control processing sub - machine of the survey ship control terminal 708 displays the real - time positioning position on the interface.

[0057] As Figure 7 shown, the main control processing sub - machine is pre - configured with the size of the floating platform, the positions of two controllers, the positions of two acoustic arrays, the target position of the target object, etc. The main control processing sub - machine is based on the positioning position of the target object sent by the floating platform terminal 704, and based on the Figure 3The calculation principle of the rope contraction amount shown is to calculate the rope contraction amount of the rope controller rotation when the target object is adjusted from the current positioning position to the target position. Furthermore, according to the rotation angle calculation formula configured in the main control processing sub - unit, the rotation angles of the two rope controllers can be calculated. After that, the main control processing sub - unit sends the calculated rotation angles of the two rope controllers to the floating platform end 704 via the switch and the data transmission radio. After being sent to the target position control unit, the two rope controllers can rotate at their respective rotation angles, so that the float 712 is pulled, and correspondingly the target object also moves to the target position.

[0058] In some embodiments, due to the influence of water flow, wind volume, etc., the target object 714 cannot be adjusted in place at one time. Then the measurement ship control end determines whether the current position of the adjusted target object is the same as or close to the target position based on the feedback of real - time positioning. Under a certain error, it can be considered that the target object is adjusted to the target position. In addition, if there is still a certain distance from the target position, the measurement ship control end makes fine adjustments according to factors such as wind volume and water flow, either according to the pre - set fine - tuning angle or based on the operator's experience, and determines whether the target object is adjusted in place through the positioning result. The target object can be adjusted to the target position through one fine - tuning or multiple fine - tunings.

[0059] In some embodiments, when there is no need to locate the position of the target object, the measurement ship control end 708 sends a stop - positioning signal. The floating platform end 704 no longer triggers the acoustic processing unit to send acoustic signals and no longer performs positioning calculations.

[0060] Please note that the technical features of the above - mentioned embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above - mentioned embodiments are described. However, as long as the combinations of these technical features do not conflict, they should be considered as within the scope described in this specification. The above - mentioned embodiments only represent several implementation manners of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A method for regulating the position of an underwater target object, characterized in that, The method uses a position control system to achieve position control of a target object located underwater; wherein: The position control system includes: a measurement ship on one side of the water surface, a measurement ship control terminal provided on the measurement ship, a floating platform on the other side of the water surface, a floating platform terminal provided on the floating platform, a float on the other side of the water surface, a target object connected to the float, two rope controllers and a rope winch provided on the floating platform; wherein, the float is connected to the floating platform by a rope; The method is executed on the measurement ship control terminal and specifically includes: Sending a positioning signal to the floating platform terminal to trigger the floating platform terminal to position the target object and obtain the positioning position of the target object; Receiving the positioning position of the target object sent by the floating platform terminal; Calculating the rotation angles of the two rope controllers based on the positioning position of the target object, the target position of the target object, the positions of the two rope controllers provided on the floating platform, and the radius of the rope winch; Sending the rotation angles of the two rope controllers to the floating platform terminal, so that the floating platform terminal controls the rope winch through the rope controllers according to the received rotation angles to adjust the rope contraction, thereby moving the target object to the target position.

2. The method for regulating the position of an underwater target object according to claim 1, characterized in that Sending the positioning signal to the floating platform terminal to trigger the floating platform terminal to perform positioning of the target object at fixed time intervals and obtain the positioning position of the target object.

3. A method for regulating the position of an underwater target object according to claim 1, characterized in that, The specific calculation of the rotation angles of the two rope controllers includes: Calculating the contraction amounts of the ropes respectively connecting the two rope controllers to the target object based on the positioning position of the target object, the target position, and the positions of the two rope controllers; Calculating the rotation angles of the two rope controllers based on the contraction amounts of the ropes respectively connecting the two rope controllers to the target object and the radius of the rope winch.

4. A method for regulating the position of an underwater target object according to claim 1, characterized in that, After moving the target object to the target position, the method further includes: Obtaining a new positioning position of the target object; If the new positioning position is different from the target position, recalculating the rotation angles of the two rope controllers and sending the recalculated rotation angles of the two rope controllers to the floating platform terminal, so that the floating platform terminal controls the rope winch through the rope controllers according to the recalculated rotation angles of the two rope controllers to adjust the rope contraction again and move the target object to the target position.

5. A method for regulating the position of an underwater target object, characterized in that, The method uses a position control system to achieve position control of a target object located underwater; wherein: The position control system includes: a measurement ship on one side of the water surface, a measurement ship control terminal provided on the measurement ship, a floating platform on the other side of the water surface, a floating platform terminal provided on the floating platform, a float on the other side of the water surface, a target object connected to the float, two rope controllers and a rope winch provided on the floating platform; wherein, the float is connected to the floating platform by a rope; The method is executed on the floating platform terminal and specifically includes: Based on the received positioning signal sent by the control end of the survey ship, position the target object and obtain the positioning position of the target object; Send the positioning position of the target object to the control end of the survey ship, so that the control end of the survey ship calculates the rotation angles of the two rope controllers based on the positioning position of the target object, the target position of the target object, the positions of the two rope controllers provided on the floating platform, and the radius of the rope winch; Based on the received rotation angles of the two rope controllers sent by the control end of the survey ship, control the rope winch through the rope controllers to adjust the rope contraction, so as to move the target object to the target position.

6. A method for regulating the position of an underwater target object according to claim 5, characterized in that, A transponder is provided on the target object; two acoustic arrays extending into the water are provided on the floating platform; in this method, positioning the target object includes: In response to the positioning signal, the floating platform end controls the two acoustic arrays to emit acoustic signals to the target object; The transponder on the target object receives the acoustic signal and makes a response, and feeds back the response acoustic signal to the two acoustic arrays; The two acoustic arrays at the floating platform end receive the response acoustic signal of the target object; The floating platform end calculates the distances from the two acoustic arrays to the target object respectively based on the transmission time of the emitted acoustic signal, the reception time of the response acoustic signal, and the sound propagation speed; Based on the positions of the two acoustic arrays and the distances from the two acoustic arrays to the target object respectively, calculate the positioning position of the target object.

7. A method for regulating the position of an underwater target object according to claim 5, characterized in that, The method further includes: Receive the new rotation angles of the two rope controllers sent by the control end of the survey ship again; According to the new rotation angles of the two rope controllers, control the rope winch again through the rope controllers at their respective new rotation angles to adjust the rope contraction again, and move the target object to the target position.

8. A method for regulating the position of an underwater target object according to claim 5, characterized in that, The method further includes: receiving the stop positioning signal sent by the control end of the survey ship, and stopping positioning the target object based on the stop positioning signal.

9. A system for regulating the position of an underwater target object, characterized in that, The system includes: a survey ship on one side of the water surface, a control end of the survey ship provided on the survey ship, a floating platform on the other side of the water surface, a floating platform end provided on the floating platform, a float on the other side of the water surface, a target object connected to the float, two rope controllers and a rope winch provided on the floating platform; the target object is underwater, and the float is connected to the floating platform by a rope; the system performs position regulation for the target object, wherein: The control end of the survey ship sends a positioning signal to the floating platform end; The floating platform end positions the target object according to the positioning signal to determine the positioning position of the target object, and sends the positioning position of the target object to the control end of the survey ship; The measurement ship control terminal calculates the rotation angle of the rope controller for controlling rope contraction based on the received positioning position of the target object, the target position of the target object, in combination with the position of the rope controller and the radius of the rope winch, and sends the rotation angle to the floating platform terminal; The floating platform terminal controls the rope winch through the rope controller according to the received rotation angle to regulate rope contraction, so as to move the target object to the target position.

10. The system for regulating the position of an underwater target object according to claim 9, wherein A transponder is provided on the target object; two acoustic arrays extending into the water are provided on the floating platform; where: In response to the positioning signal, the floating platform terminal controls the two acoustic arrays to emit acoustic signals to the target object; The transponder on the target object receives the acoustic signal and makes a response, and feeds back the response acoustic signal to the two acoustic arrays; The two acoustic arrays of the floating platform terminal receive the response acoustic signal of the target object; The floating platform terminal calculates the positioning position of the target object based on the emission time of the emitted acoustic signal, the reception time of the response acoustic signal, the sound propagation speed, and the positions of the two acoustic arrays.

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