Ultra-short baseline transceiving array vertical directivity high-precision rapid measurement mechanism

Abstract

The invention relates to an ultra-short baseline transmit-receive array vertical directivity high-precision rapid measurement mechanism, which is used for ultra-short baseline transmit-receive array vertical directivity high-precision rapid measurement, and comprises a measurement positioning unit used for fixing an ultra-short baseline transmit-receive array and driving the ultra-short baseline transmit-receive array to rotate around the axis of the ultra-short baseline transmit-receive array so as to switch the measurement positions of a plurality of hydrophones; the supporting and driving unit is used for supporting and driving the measuring and positioning unit to rotate; and the horizontal adjusting unit is connected to the upper part of the supporting and driving unit and is used for driving the whole measuring mechanism to translate in a horizontal plane, so that the center of the measured hydrophone is aligned with the reference axis of an external measuring system. According to the invention, the clamping of the transmitting-receiving array is convenient, the clamping time is saved, the measurement efficiency is improved, the labor intensity of measurement workers is reduced, the risk in the mounting and measurement process of the transmitting-receiving array is reduced, the measurement automation level is improved, and the measurement precision is improved.

Description

Technical Field

[0001] This invention belongs to the field of underwater acoustic measurement technology, specifically relating to a high-precision, rapid measurement mechanism with vertical directivity of an ultra-short baseline transceiver array. Background Technology

[0002] Ultra-short baseline positioning systems are underwater transceiver arrays based on underwater acoustic technology, commonly used in marine engineering, resource exploration, and military fields. They typically consist of a transceiver array, a signal processing unit, and a transponder.

[0003] Before an ultra-short baseline transceiver array (UBS) is put into use, its acoustic parameters must be measured for the evenly distributed hydrophones and transmitting transducers. Previously, the commonly used measurement method was purely mechanical. The UBS transceiver array was first fixed to a measuring mechanism, and the acoustic parameters of the first hydrophone were measured. After the measurement, the measuring mechanism was raised above the water surface, and the operator rotated the UBS transceiver array to the measurement position of the next hydrophone. Then, the measuring mechanism was lowered underwater to measure the next hydrophone. Because the UBS transceiver array is relatively heavy, manual operation is inconvenient, positioning errors are relatively large, measurement accuracy is low, and measurement accidents are easily caused. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a high-precision and rapid measurement mechanism for the vertical pointing of an ultra-short baseline transceiver array, so as to facilitate the clamping of the transceiver array, save clamping time, improve measurement efficiency, reduce the labor intensity of measurement workers, reduce the risks in the installation and measurement process of the transceiver array, improve the level of measurement automation, and improve measurement accuracy.

[0005] The technical solution of this invention is to provide a high-precision and rapid measurement mechanism for the vertical pointing of an ultra-short baseline transceiver array, used for high-precision and rapid measurement of the vertical pointing of an ultra-short baseline transceiver array, the structure of which includes:

[0006] The measurement and positioning unit is used to fix the ultra-short baseline transceiver array and drive it to rotate around its own axis to switch the measurement positions of multiple hydrophones.

[0007] A support drive unit is used to support and drive the measurement and positioning unit to rotate.

[0008] A horizontal adjustment unit, connected to the upper part of the support drive unit, is used to drive the entire measuring mechanism to translate in the horizontal plane so that the center of the hydrophone under test is aligned with the reference axis of the external measuring system.

[0009] The control unit is signal-connected to the support drive unit and the horizontal adjustment unit, and is used to remotely control the rotation angle of the support drive unit and the translation position of the horizontal adjustment unit.

[0010] Preferably, the measurement and positioning unit includes a measuring cylinder and a rotating shaft. One end of the measuring cylinder is used to detachably fix the ultra-short baseline transceiver array, and the other end is fixedly connected to the rotating shaft. The rotating shaft is coaxial with the measuring cylinder.

[0011] Preferably, the support drive unit includes a bracket, a bearing, and a drive motor. The lower part of the bracket has a bearing housing, in which the bearing is mounted to rotatably support the rotating shaft. The drive motor (preferably a watertight stepper motor) is connected to the rotating shaft via a coupling.

[0012] Preferably, a rotary positioning component is also included, which consists of a sensor fixed on a rotating shaft and a position sensor (such as a proximity switch) fixed on a bracket, for achieving precise positioning and closed-loop control of the rotation angle.

[0013] Preferably, the rotating shaft has a waist-shaped hole for the cable connecting the array to pass through, and the weight of the shaft is reduced.

[0014] Preferably, the horizontal adjustment unit is an electric XY translation stage, which can achieve precise displacement in a two-dimensional plane.

[0015] Preferably, the control unit includes a host computer, a controller, and a communication module. The host computer software interface provides two control modes: a basic mode (preset angle selection) and a custom mode (arbitrary angle input). The stepper motor and the electric translation stage are remotely controlled through serial communication.

[0016] Furthermore, the interface connecting the measuring cylinder to the array is a replaceable or adaptable structure to match ultra-short baseline transceiver arrays of different models and sizes, thereby improving the versatility of the mechanism.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] 1. The ultra-short baseline transceiver array is easy to clamp, saving clamping time and improving measurement efficiency;

[0019] 2. Reduce the labor intensity of surveying workers and decrease the risks during the measurement process of ultra-short baseline transceiver arrays;

[0020] 3. The ultra-short baseline transceiver array with vertical pointing high-precision and rapid measurement mechanism can be remotely controlled by a computer, which improves the level of measurement automation and achieves high measurement accuracy;

[0021] 4. The high-precision and rapid measurement mechanism for the vertical pointing of the ultra-short baseline transceiver array can be adapted to ultra-short baseline transceiver arrays of different sizes by changing the interface module, and has a wide range of applications;

[0022] 5. The remote control section uses serial communication mode in conjunction with the host computer to control the measuring mechanism, which is flexible and convenient, and the mode switching is convenient. Attached Figure Description

[0023] Figure 1 This is an isometric view of the present invention.

[0024] Figure 2 This is a cross-sectional view of the present invention.

[0025] Figure 3 This is a side view of the present invention.

[0026] Figure 4 This is a schematic diagram of the basic mode of the control unit in an embodiment of the present invention.

[0027] Figure 5 This is a schematic diagram of the custom mode of the control unit in an embodiment of the present invention.

[0028] In the diagram, 1. Ultra-short baseline transceiver array; 2. Measuring cylinder; 3. Rotating shaft; 4. Support; 5. First bearing; 6. Second bearing; 7. Bearing cover; 8. Nut; 9. Motor mounting base; 10. Coupling; 11. Stepper motor; 12. Cable head; 13. Cable; 14. Sensor; 15. Position sensor; 16. Eye bolt; 17. Electric XY translation stage. Detailed Implementation

[0029] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0030] A high-precision and rapid measurement mechanism for the vertical orientation of an ultra-short baseline transceiver array is provided, which is mainly used for high-precision and rapid measurement of the vertical orientation of an ultra-short baseline transceiver array.

[0031] This ultra-short baseline transceiver array vertical pointing high-precision rapid measurement mechanism mainly includes four functional modules: a measurement and positioning unit, a support and drive unit, a horizontal adjustment unit, and a control unit. Figure 1-3 As shown, where,

[0032] The measurement and positioning unit includes a horizontally arranged and connected measuring cylinder 2 and a rotating shaft 3. One end of the measuring cylinder 2 is used to detachably fix the ultra-short baseline transceiver array 1. One end of the rotating shaft 3 is fixedly connected to the other end of the measuring cylinder 2 and is coaxially arranged with the measuring cylinder 2. In this embodiment, the right end face of the measuring cylinder 2 has 6 evenly distributed through holes that mate with the ultra-short baseline transceiver array 1. The left end face of the ultra-short baseline transceiver array 1 has a sealing groove. After a sealing ring is installed and pressed against the measuring cylinder 2, a watertight seal can be achieved. The left end face of the measuring cylinder 2 has 6 evenly distributed threaded holes that mate with the rotating shaft 3. The center of the left end face of the measuring cylinder 2 has a through hole for installing a cable head 12. The cable head 12 has a sealing ring on the circumferential surface that contacts the measuring cylinder 2, thus achieving a watertight seal inside the measuring cylinder 2. After the cable 13 and the cable head 12 are vulcanized, their core wires can mate with the lead wires of the ultra-short baseline transceiver array 1. The measuring cylinder 2 can be modified in shape and size to accommodate different models and sizes of ultra-short baseline transceiver arrays, thus broadening the application range of the measuring mechanism.

[0033] The support drive unit includes a bracket 4, bearings, and a drive motor 11. There is a pair of bearings: a first bearing 5 and a second bearing 6. Specifically, the bracket 4 has a bearing housing at its lower part; the first bearing 5 and the second bearing 6 are mounted within the bearing housing to rotatably support the rotating shaft 3; the drive motor 11 is fixedly mounted on the bracket 4, and its output shaft is connected to the rotating shaft 3 via a coupling 10. In this embodiment, high-precision needle roller bearings are used.

[0034] The receiving section of the ultra-short baseline transceiver array 1 consists of five evenly distributed hydrophones. The drive motor control program sets a measurement point every 72° of rotation, and sets the marked hydrophone No. 1 as the measurement starting zero point. The lower end of the bracket 4 is a cylindrical bearing housing, which can house the first bearing 5 and the second bearing 6. Threaded holes are machined on the end face of the bearing housing for installing bearing covers 7 to prevent the bearings from falling off. Near the lower part of the bracket 4, threaded holes are machined for installing proximity switches. The upper end of the bracket 4 has a slotted hole for connecting to the threaded hole at the bottom of the horizontal adjustment unit via screws. The threaded hole at the upper end is used to install eye bolts 16 for lifting the entire measuring mechanism. The horizontal adjustment unit is an electric XY translation stage 17.

[0035] The upper surface of the electric XY translation stage 17 is machined with threaded holes, which can be connected to the rotating shaft of the measuring pool motion mechanism. The electric XY translation stage 17 can be driven by a motor to translate along the X and Y axes, thereby aligning the center of the hydrophone under test with the central axis of the rotating shaft of the measuring pool motion mechanism, reducing positional errors, and thus improving the measurement accuracy of the acoustic parameters of the hydrophone under test.

[0036] In one implementation, the support drive unit further includes a rotary positioning component, which is configured as follows:

[0037] The sensing element 14 is fixed on the rotating shaft 3; in this embodiment, the sensing element 14 is a sensing rod.

[0038] Position sensor 15 is fixed on bracket 4 and connected to the control unit via signal; in this embodiment, position sensor 15 is a proximity switch.

[0039] The lower end of the sensing rod is fixed to the cylindrical surface of the rotating shaft 3 by screws, and the upper part is equipped with metal screws and nuts. When the rotating shaft 3 rotates to align the sensing element 14 with the position sensor 15, the proximity switch is triggered, and the control unit controls the drive motor 11 to stop rotating.

[0040] The control unit includes a host computer and a communication module. The host computer provides a user interface, and the user interface is configured as follows:

[0041] The basic mode interface displays multiple preset angle positions for selection.

[0042] The customizable interface provides an angle input function, allowing users to input any target angle value.

[0043] In one implementation, the interface connecting the measuring cylinder 2 to the ultra-short baseline transceiver array 1 is a replaceable or adaptable structure to match ultra-short baseline transceiver arrays of different models and sizes.

[0044] In one embodiment, the rotating shaft 3 has a waist-shaped hole on its shaft for the cable 13 connecting the ultra-short baseline transceiver array 1 to pass through. In this embodiment, the rotating shaft 3 has four evenly distributed waist-shaped holes, through which the cable 13 can be led out, and the weight can be reduced. The cylindrical surface of the left side of the rotating shaft 3 contacts and engages with the first bearing 5 and the second bearing 6, which can support the ultra-short baseline transceiver array 1 and the measuring cylinder 2. In order to prevent vibration during the measurement of the ultra-short baseline transceiver array 1, the first bearing 5 and the second bearing 6 can be arranged side by side to engage with the rotating shaft 3. The cylindrical surface of the left end of the rotating shaft 3 engages with the coupling 10. The drive motor 11 drives the rotating shaft 3 to rotate through the coupling 10, which in turn drives the ultra-short baseline transceiver array 1 to rotate, thus enabling directional measurement of the hydrophones evenly distributed within the ultra-short baseline transceiver array 1.

[0045] In this embodiment, the drive motor is a watertight stepper motor with a working depth of up to 20 meters underwater. The stepper motor 11, in conjunction with the driver and controller, can drive the ultra-short baseline transceiver array 1 to rotate, thereby achieving the purpose of directional measurement of the hydrophones evenly distributed on it. The stepper motor is fixed on the motor mounting base 9, the right end of which is fixed to the bearing cover 7, and the threaded hole machined on the left end is used to fix the stepper motor. The interior is hollow and used to house the coupling 10. To reduce vibration, the coupling 10 is a flexible coupling.

[0046] The present invention is installed and connected in the following manner:

[0047] First, vulcanize the cable 13 and the cable head 12, and fix the cable head 12 to the measuring cylinder 2. Then, fix the right end of the rotating shaft 3 to the measuring cylinder 2, and lead the cable 13 out from the waist hole of the rotating shaft 3.

[0048] Insert the first bearing 5 and the second bearing 6 into the cylindrical hole at the lower end of the bracket 4 in sequence. Then, pass the rotating shaft 3 through the first bearing 5 and the second bearing 6 from the right side. Finally, fix the nut 8 to the left side of the rotating shaft 3 to prevent the rotating shaft 3 from falling off.

[0049] Fix the bearing cover 7 to the lower cylindrical surface of the bracket 4 with screws, then fix the motor mounting base 9 to the bearing cover 7 with screws. Next, fit the coupling 10 onto the cylinder at the left end of the rotating shaft 3, fit the output shaft of the stepper motor 11 into the inner hole of the coupling 10, fix the stepper motor 11 to the left end of the motor mounting base 9, and then clamp the coupling.

[0050] Then screw the proximity switch into the threaded hole near the bottom of the bracket 4 and tighten it with the provided nut. Next, fix the metal screw and nut to the upper end of the sensing rod, and fix the sensing rod to the cylindrical surface of the rotating shaft 3 with screws.

[0051] Then, the bracket 4 is fixed to the threaded hole on the lower end face of the electric XY translation stage 17 with screws.

[0052] Then, the lead wire of the ultra-short baseline transceiver array 1 is connected to the core wire of the cable 13, and the ultra-short baseline transceiver array 1 is fixed to the right end of the measuring cylinder 2.

[0053] After completing the above steps, the core wire of cable 13 and the cables of proximity switch and electric XY translation stage 17 are introduced into the control box, and the measuring mechanism is remotely controlled by the host computer through serial communication.

[0054] The host computer software interface is as follows Figure 4 and Figure 5 As shown. In other words, remote control has two modes: basic mode and custom mode.

[0055] Figure 4 In the basic mode, the interface has five origin points, corresponding to five angular measurement positions. Clicking the corresponding origin point with the mouse causes the measuring mechanism to rotate the ultra-short baseline transceiver array 1 to the designated position and stop. Then, the vertical directivity of the hydrophone can be measured. In other words, the five origin points correspond to the theoretical measurement positions of the five hydrophones on the array (one every 72 degrees). Clicking any origin point drives the control unit to rotate the stepper motor 11, which in turn rotates the ultra-short baseline transceiver array 1. When the target on the sensing rod passes the proximity switch, the system records the zero point and continues precise graduation to the target angle before stopping. Acoustic measurements of the hydrophone can then be performed.

[0056] Figure 5 In custom mode, the interface features a knob and a numerical input box, allowing for two methods to adjust the angle of the measuring mechanism. After entering the target angle in the input box and pressing the "enter" key, the measuring mechanism rotates the USMR transceiver array 1 to the target angle and stops. This method is suitable for various USMR transceiver arrays with different evenly distributed angles, expanding the application range of the measuring mechanism.

[0057] This invention achieves precise angle driving of the array through a rigid connection between the rotating shaft and the measuring cylinder; realizes automated high-precision angle positioning and feedback through a combination of stepper motor and proximity switch; achieves secondary precision centering through an electric XY translation stage; realizes the wide applicability of the mechanism through modular measuring cylinder and flexible software control; and finally integrates all functions through a remote control system, realizing a technological leap from manual, inefficient, and low-precision to automatic, efficient, and high-precision.

[0058] The above description only illustrates preferred embodiments of the present invention and should not be construed as limiting the scope of the claims. Any equivalent procedural modifications made using this specification are included within the patent protection scope of this invention.

Claims

1. A high-precision, rapid measurement mechanism with vertical pointing of an ultra-short baseline transceiver array, characterized in that: include Measurement and positioning unit is used to fix the ultra-short baseline transceiver array (1) and drive it to rotate around its own axis to switch the measurement positions of multiple hydrophones; A support drive unit is used to support and drive the measurement and positioning unit to rotate. A horizontal adjustment unit, connected to the upper part of the support drive unit, is used to drive the entire measuring mechanism to translate in the horizontal plane so that the center of the hydrophone under test is aligned with the reference axis of the external measuring system. The control unit is signal-connected to the support drive unit and the horizontal adjustment unit, and is used to remotely control the rotation angle of the support drive unit and the translation position of the horizontal adjustment unit.

2. The ultra-short baseline transceiver array vertical pointing high-precision rapid measurement mechanism according to claim 1, characterized in that: The measurement and positioning unit includes, The measuring cylinder (2) has one end for horizontal connection to the ultra-short baseline transceiver array (1). The rotating shaft (3) has its first end horizontally connected to the other end of the measuring cylinder (2) and is coaxially arranged with the measuring cylinder (2).

3. The ultra-short baseline transceiver array vertical pointing high-precision rapid measurement mechanism according to claim 2, characterized in that: The support drive unit includes, The bracket (4) has a bearing seat at its lower part; A bearing, installed in the bearing housing, is used to rotatably support the second end of the rotating shaft (3); The drive motor (11) is fixedly installed on the bracket (4), and its output shaft is driven to the second end of the rotating shaft (3) through the coupling (10).

4. The ultra-short baseline transceiver array vertical pointing high-precision rapid measurement mechanism according to claim 3, characterized in that: It also includes a rotation positioning component, the rotation positioning component comprising, The sensing element (14) is fixed on the rotating shaft (3); A position sensor (15) is fixed on the bracket (4) and signal-connected to the control unit; When the rotating shaft (3) rotates to align the sensing element (14) with the position sensor (15), the position sensor (15) sends a signal, and the control unit controls the drive motor (11) to stop.

5. The ultra-short baseline transceiver array vertical pointing high-precision rapid measurement mechanism according to claim 3 or 4, characterized in that: The drive motor (11) is a watertight stepper motor.

6. The ultra-short baseline transceiver array vertical pointing high-precision rapid measurement mechanism according to claim 4, characterized in that: The rotating shaft (3) has a waist-shaped hole on its shaft for the cable (13) connecting the ultra-short baseline transceiver array (1) to pass through.

7. The ultra-short baseline transceiver array vertical pointing high-precision rapid measurement mechanism according to claim 1, characterized in that: The horizontal adjustment unit is an electric XY translation stage (17).

8. The ultra-short baseline transceiver array vertical pointing high-precision rapid measurement mechanism according to claim 1, characterized in that: The control unit includes a host computer and a communication module. The host computer provides a user interface, which includes at least the following: The basic mode interface displays multiple preset angle positions for selection. The customizable interface provides an angle input function, allowing users to input any target angle value.

9. The ultra-short baseline transceiver array vertical pointing high-precision rapid measurement mechanism according to claim 1, characterized in that: The interface connecting the measuring cylinder (2) to the ultra-short baseline transceiver array (1) is a replaceable or adaptable structure to match ultra-short baseline transceiver arrays of different models and sizes.

10. The ultra-short baseline transceiver array vertical pointing high-precision rapid measurement mechanism according to claim 1, characterized in that: The receiving part of the ultra-short baseline transceiver array (1) consists of 5 hydrophones evenly distributed. The control program of the drive motor (11) also sets a measurement point every 72° rotation and sets the marked hydrophone No. 1 as the measurement starting zero point.

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