Underwater dynamic distributed group positioning system

Abstract

The utility model relates to the technical field of underwater positioning, in particular to an underwater dynamic distributed group positioning system, which is characterized in that a slave node module comprises a first control mainboard and a first power supply for supplying power to the first control mainboard; the first control mainboard is connected with a first display, a first data transceiving unit and a first communication unit; the main node module comprises a second main control board and a second power supply for supplying power to the second main control board; an acoustic detection module is arranged on the main node module; a plurality of transceiving transducers are arranged on the acoustic detection module; the transmitting and receiving transducers are circumferentially distributed on the main node module; the acoustic detection module and the first data transmit-receive unit can transmit and receive sound waves mutually. And the divers determine the positions and the interconnections of the divers in the group through the group positioning system, so that the working difficulty of group underwater activities is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater positioning, in particular to an underwater dynamic distributed group positioning system. Background Art

[0002] As human underwater activities become more frequent, whether it is personal diving or underwater unmanned systems working underwater, the problem of underwater positioning becomes increasingly difficult. In fact, in many cases, it is very important to know the relative positions of people or equipment in the area in real time.

[0003] However, in existing underwater operations, there is no mutual positioning mechanism between workers, so the specific location of other workers cannot be clearly known underwater. As a result, it is difficult for divers to form connections with each other in their underwater activities, which increases the difficulty of underwater activities. Utility Model Content

[0004] The purpose of the present invention is to provide an underwater dynamic distributed group positioning system in response to the defects and shortcomings of the existing technology.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] The underwater dynamic distributed group positioning system described in the utility model includes a master node module and at least one slave node module;

[0007] The slave node module includes a first control mainboard and a first power supply for supplying power to the first control mainboard; the first control mainboard is connected to a first display, a first data transceiver unit and a first communication unit;

[0008] The master node module includes a second master control board and a second power supply for supplying power to the second master control board; the master node module is provided with an acoustic detection module; the acoustic detection module is provided with a plurality of transceiver transducers; the transceiver transducers are distributed in a circular pattern on the master node module;

[0009] The acoustic detection module and the first data transceiver unit can transmit and receive sound waves to each other.

[0010] Furthermore, the first control main board is provided with a first communication unit; the second main control board is provided with a second communication module;

[0011] Acoustic signal transmission is performed between the first communication unit and the second communication module.

[0012] Furthermore, the main node module is mounted on an attitude stabilization platform; and the transceiver transducers are arranged on the same horizontal plane of the attitude stabilization platform.

[0013] Furthermore, the master node module and the slave node module are both equipped with depth sensors; the depth sensors are used to measure the depth of the master node module and the slave node module from the water surface.

[0014] After adopting the above structure, the beneficial effects of the utility model are as follows: the acoustic detection module emits sound waves to the first data transceiver unit; at the same time, the first data transceiver unit emits an echo to the acoustic detection module, and the distance between the acoustic detection module and the master node module is calculated by the time interval between the transmitted wave of the acoustic detection module and the echo from the first data transceiver unit; then it is processed into image information by the first control main board and displayed on the first display; similarly, the second main control board processes it into graphic information and displays it on the second display; in this way, each diver carrying a slave node module uses the diver carrying the master node module as a reference point, and can clearly know his own position and that of the diver carrying the master node module. Each diver determines his position and mutual connection in the group through the group positioning system, which reduces the difficulty of group underwater activities. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural diagram of the utility model;

[0016] Figure 2 It is a picture showing the position distribution of slave nodes and master nodes on the display under a certain underwater activity state;

[0017] Description of reference numerals:

[0018] A, slave node module; A1, first display; A2, first control mainboard;

[0019] A3, first data transceiver unit; A4, first communication unit; A5, first power supply;

[0020] B, main node module; B1, second display; B2, second main control board; B3, acoustic detection module;

[0021] B4, second communication module; B5, second power supply; B6, attitude stabilization platform. DETAILED DESCRIPTION

[0022] The present invention will be further described below with reference to the accompanying drawings.

[0023] like Figures 1 to 2 As shown, the underwater dynamic distributed group positioning system described in the present invention includes a master node module B and at least one slave node module A;

[0024] The slave node module A includes a first control mainboard A2 and a first power supply A5 for supplying power to the first control mainboard A2; the first control mainboard A2 is connected to a first display A1, a first data transceiver unit A3 and a first communication unit A4;

[0025] The master node module B includes a second master control board B2 and a second power supply B5 for supplying power to the second master control board B2; the master node module B is provided with an acoustic detection module B3; the acoustic detection module B3 is provided with a plurality of transceiver transducers; the transceiver transducers are distributed in a circular pattern on the master node module B;

[0026] The acoustic detection module B3 and the first data transceiver unit A3 can mutually transmit and receive sound waves; the first control main board A2 and the second main control board B2 are essentially the same as the existing control circuit, so they are not described in detail;

[0027] One of the divers carries a master node module B; each of the other divers carries a slave node module A;

[0028] The first data transceiver unit A3 is mainly used to receive and transmit sound waves. The acoustic detection module B3 is essentially the same as the prior art, so it is not described in detail. The transceiver transducer and the first data transceiver unit A3 can both receive and transmit signals. The transceiver transducer can convert the acoustic signal into an electrical signal and then input it into the second main control board B2 for processing.

[0029] The acoustic detection module B3 emits sound waves to the first data transceiver unit A3; at the same time, the first data transceiver unit A3 emits an echo to the acoustic detection module B3, and the distance between the module and the master node module B is calculated by the time interval between the transmitted wave of the acoustic detection module B3 and the echo from the first data transceiver unit A3; then it is processed into image information by the first control main board A2 and displayed on the first display A1; similarly, the second main control board B2 processes it into graphic information and displays it on the second display B1; in this way, each diver carrying the slave node module A uses the diver carrying the master node module B as a reference point, and can clearly understand his own position and that of the diver carrying the master node module B. Each diver determines his position and mutual connection in the group through the group positioning system, which reduces the difficulty of group underwater activities.

[0030] As a preferred embodiment of the present invention, the first control main board A2 is provided with a first communication unit A4; the second main control board B2 is provided with a second communication module B4;

[0031] Acoustic signal transmission is performed between the first communication unit A4 and the second communication module B4;

[0032] Divers carrying slave node modules A all carry master node modules B and use the first communication unit A4 to transmit sound signals to the second communication module B4, so that divers can communicate with each other using voice; people carrying slave node modules A can also transmit sound between each other through the first communication unit A4.

[0033] As a preferred embodiment of the present invention, the main node module B is mounted on a posture stabilization platform B6; the transceiver transducer is arranged on the same horizontal plane on the posture stabilization platform B6; the posture stabilization platform B6 is a stable platform and has no essential difference from the existing technology, so it is not described in detail; the stable platform is used to keep the main node module B horizontal, so that even if the posture of the person carrying the main node module B changes, the transceiver transducer can be maintained in the horizontal direction, ensuring that models in all horizontal directions can be received.

[0034] As a preferred embodiment of the present invention, the master node module B and the slave node module A are both equipped with a depth sensor; the depth sensor is used to measure the depth of the master node module B and the slave node module A from the water surface;

[0035] Depth sensors are essentially the same as existing technologies, so I won’t go into detail here;

[0036] like Figure 2 As shown, the X coordinate and Y coordinate can be set according to the geographical location or according to the cross of the human body. For example, the left and right sides of the person are the positive direction of the X coordinate, the right hand is the negative direction of the X coordinate, and the front of the person is the positive direction of the Y coordinate.

[0037] After the main node module B receives an echo, the azimuth angle α of the echo can be determined, and the distance L between the main node and the slave node can be calculated based on the time interval between the emission wave of the acoustic detection module on the main node module B and the echo sent by the slave node module A and received by the main node module B. Taking the position of the main node module B as the zero point, the X-axis coordinate of the slave node module A is L*cosα, and the Y-axis coordinate of the slave node module A is L*sinα. The water depth at the location of the main node module B and the slave node module A is measured by the depth sensor and displayed on the display. This data is displayed in the form of an image on the first display A1 and the second display B1; and the main node module B and the slave node module A are respectively numbered on the display, or the color of the node is different from that of other nodes to distinguish the location of the node, so that the diver can clearly understand his relative position to the main node module B.

[0038] The above description is only a preferred embodiment of the present invention. Therefore, any equivalent changes or modifications made according to the structure, features and principles described in the scope of the present invention patent application are included in the scope of the present invention patent application.

Claims

1. An underwater dynamic distributed group positioning system, characterized by: It includes a master node module (B) and at least one slave node module (A); The slave node module (A) includes a first control mainboard (A2) and a first power supply (A5) for supplying power to the first control mainboard (A2); the first control mainboard (A2) is connected to a first display (A1), a first data transceiver unit (A3) and a first communication unit (A4); The master node module (B) includes a second master control board (B2) and a second power supply (B5) for supplying power to the second master control board (B2); an acoustic detection module (B3) is provided on the master node module (B); a plurality of transceiver transducers are provided on the acoustic detection module (B3); the transceiver transducers are distributed in a circular pattern on the master node module (B); The acoustic detection module (B3) and the first data transceiver unit (A3) are capable of transmitting and receiving sound waves to and from each other.

2. The underwater dynamic distributed group positioning system according to claim 1, characterized in that: The first control main board (A2) is provided with a first communication unit (A4); the second main control board (B2) is provided with a second communication module (B4); Acoustic signal transmission is performed between the first communication unit (A4) and the second communication module (B4).

3. The underwater dynamic distributed group positioning system according to claim 1, characterized in that: The main node module (B) is mounted on an attitude stabilization platform (B6); and the transceiver transducers are arranged on the same horizontal plane on the attitude stabilization platform (B6).

4. The underwater dynamic distributed group positioning system according to claim 3, characterized in that: The master node module (B) and the slave node module (A) are both equipped with depth sensors; the depth sensors are used to measure the depth of the master node module (B) and the slave node module (A) from the water surface.

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