CN103869323B - A kind of helmet-type coloured image sonar and formation method thereof - Google Patents
A kind of helmet-type coloured image sonar and formation method thereof Download PDFInfo
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- CN103869323B CN103869323B CN201410131019.XA CN201410131019A CN103869323B CN 103869323 B CN103869323 B CN 103869323B CN 201410131019 A CN201410131019 A CN 201410131019A CN 103869323 B CN103869323 B CN 103869323B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/02—Divers' equipment
- B63C11/12—Diving masks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/521—Constructional features
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Optics & Photonics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention relates to a kind of helmet-type coloured image sonar, comprise sonar capsule, control enclosure, video eyeglasses; Wherein, described sonar capsule can be arranged on the helmet, and described video eyeglasses can be arranged on the eye of the described helmet; Described sonar capsule is connected to control enclosure by watertight cable, and described control enclosure is also connected with video eyeglasses by watertight cable; Described sonar capsule externally environment Firing Sonar signal receive echoed signal under the control of control enclosure; Described control enclosure processes the sonar echo signal that sonar capsule exports, and therefrom extracts the information of external environment condition, is then converted into two-dimensional image data; Described two-dimensional image data shows on described video eyeglasses.
Description
Technical field
The present invention relates to underwater detection equipment, particularly a kind of helmet-type coloured image sonar and formation method thereof.
Background technology
The domestic river of China, lake are numerous, seashore line length, circumstance complication under river and Lake Water, and the feature that in river, ubiquity silt content is large, cause water quality muddy, and seawater underwater visibility is low, these are all that frogman's underwater operation adds difficulty and danger.At present, frogman is when carrying out diving operation, and conventional view mode is the acuity relying on major light, but in insufficient light and muddy water, the human eye Observable visual field is minimum, and uses major light not only inconvenient, and dangerous.Underwater Imaging sonar has just been there is in order to address this problem.
Existing Underwater Imaging sonar mainly contains two kinds of forms, one is hand-held, used by frogman's held by both hands handle, its shortcoming is apparent: the both hands of frogman in bond live, not only bad for underwater operation, be also very large threat to the safety of frogman; Another kind is then fixed on the various submarine navigation devices such as UUV or underwater operation platform, and its shortcoming is: because volume is large, assembling is complicated, is difficult to match with various workbench.If a kind of volume underwater sonar imaging device that is little, lightweight, convenient for assembly and that use can be provided to contribute to the realization of diving operation.
Summary of the invention
The object of the invention is to overcome that Underwater Imaging sonar volume of the prior art is large, assembling is complicated, the not defect of Portable belt, thus a kind of helmet-type coloured image sonar for frogman is provided.
To achieve these goals, the invention provides a kind of helmet-type coloured image sonar, comprise sonar capsule 1, control enclosure 2, video eyeglasses 3; Wherein, described sonar capsule 1 can be arranged on the helmet, and described video eyeglasses 3 can be arranged on the eye of the described helmet; Described sonar capsule 1 is connected to control enclosure 2 by watertight cable, and described control enclosure 2 is also connected with video eyeglasses 3 by watertight cable;
Described sonar capsule 1 externally environment Firing Sonar signal receive echoed signal under the control of control enclosure 2; The sonar echo signal that described control enclosure 2 pairs of sonar capsules 1 export processes, and therefrom extracts the information of external environment condition, is then converted into two-dimensional image data; Described two-dimensional image data shows on described video eyeglasses 3.
In technique scheme, described sonar capsule 1 comprises stepper motor 11, transducer 12, transmission shaft 13 are put in transmitting-receiving conjunction; Wherein, described stepper motor 11 is put transducer 12 by transmission shaft 13 with described transmitting-receiving conjunction and is connected; Described stepper motor 11 reciprocating rotation between certain angle, and then drive described transmitting-receiving conjunction to put transducer 12 reciprocating rotation between this angular range by transmission shaft 13; Described transmitting-receiving is closed and is put transducer 12 in described angular range every the transmitting of certain smaller angle and a reception sonar signal.
In technique scheme, described transmitting-receiving conjunction is put transducer 12 and is comprised a bar shaped piezoelectric ceramic transducer 121, semicircular shell 122 and lead-in wire axle 123; Described bar shaped piezoelectric ceramic transducer 121 is positioned at described semicircular shell 122, is provided with described lead-in wire axle 123 in the lower end of described semicircular shell 122, and described lead-in wire axle 123 is connected with described transmission shaft 13.
In technique scheme, the outermost of described sonar capsule 1 includes the housing for the protection of stepper motor 11, section transmission axle 13, and this housing has watertightness, and described transmission shaft 13 can be made to rotate flexibly.
In technique scheme, described control enclosure 2 comprises: signal pre-processing module 21, signal processing module 22, format converting module 23, memory module 24, control module 25, power supply 26 and box body 27; Wherein,
Described signal pre-processing module 21 does to received sonar echo signal the pretreatment operation comprising amplification, filtering, and described signal processing module 22 will sample through pretreated signal, analyze and pseudo-color coding, obtain two-dimensional image data; Two-dimensional image data is converted to the data layout that can show on described video eyeglasses 3 by described format converting module 23; Described memory module 24 is for storing described two-dimensional image data; Described control module 25 pairs of image-forming ranges, signal gain, areas imaging angle control, and control startup and the closedown of sonar.
In technique scheme, described control enclosure 2 also comprises the interface that display device land with outside is connected, by this interface, described two-dimensional image data can be sent to outside land display device by described control enclosure 2, the data that user is sent by outside land display device can also be shown on described video eyeglasses 3.
In technique scheme, described signal processing module 22 comprises sampling unit 221, analytic unit 222, coding unit 223 further; Described sampling unit 221 is sampled to through pretreated sonar signal, obtains sampled signal; Described analytic unit 222 pairs of sampled signals do FFT computing, obtain the value of reflected signal intensity; The value of described coding unit 223 to obtained reflected signal intensity does pseudo-color coding, namely finds out the color of the most applicable display of each point according to the reflection coefficient of object, thus generates two-dimensional image data.
In technique scheme, described video eyeglasses 3 comprises eyeglass 31, amplifier module 32, miniscope 33, and three is arranged in order in video eyeglasses cylinder 34; Wherein, described miniscope 33 generates two dimensional image according to received two-dimensional image data, and the sight of user sees the two dimensional image that can reflect external environment condition by eyeglass 31 and amplifier module 32 on described miniscope 33; Described video eyeglasses cylinder 34 has watertightness.
Present invention also offers the formation method realized based on described helmet-type coloured image sonar, comprising:
Step 1), frogman by control enclosure 2 power-on switch, and are arranged image-forming range, scanning angle scope, signal gain;
Step 2), transmitting-receiving in described sonar capsule 1 closes to put after transducer 12 receives order and starts outwards to launch sound pulse; Put transducer 12 by described transmitting-receiving conjunction after sound pulse is reflected by objects ahead to receive, produce the line sonar signal in fan-shaped display, the sonar signal produced is transferred in described control enclosure 2;
Step 3), described control enclosure 2 pairs of sonar signals comprise the pre-service of amplification, filtering, then sample to sonar signal, obtain sampled signal; Sampled signal, after FFT computing, obtains the value of reflected signal intensity, and these values are carried out pseudo-color coding, generates a line of fan-shaped display view data and stores;
Stepper motor 11 in step 4), sonar capsule 1 rotates according to the angle of setting, repeat step 2 in each angle), step 3), form a line in fan-shaped display view data, after the data splicing of each bar line obtained in each anglec of rotation by sonar capsule (1), obtain described fan-shaped display view data;
Step 5), when external land display device and described control enclosure 2 disconnect, above-mentioned fan-shaped display view data only carries out format conversion, is converted to the data layout that can show in video eyeglasses 3, and transfers signals in video eyeglasses 3; When external land display device is connected with described control enclosure 2, two-dimensional image data is divided into two-way to transmit, one tunnel is directly transferred to external land display device and shows, simultaneously, external land display device sends information to frogman, on the video eyeglasses 3 that the information displaying sent is worn frogman, another road, after format conversion, is transferred to described video eyeglasses 3 and shows.
The invention has the advantages that:
1, helmet-type coloured image sonar of the present invention puts transducer launching and receiving signal by transmitting-receiving conjunction, by the mode of stepper motor mechanical scanning, avoids extensive operational problem, thus ensure that the small and exquisite of circuit structure;
2, helmet-type coloured image sonar of the present invention is equipped with " eyes " by being shown as frogman under water, surrounding environment realtime graphic under water can be provided to frogman, and by visual range and the distance of control enclosure adjustment observation, thus better grasp real-time condition under water;
3, helmet-type coloured image sonar of the present invention can carry out real time imagery to submarine target, while being presented at by image in face of frogman, also view data is stored, and checks after convenient;
4, helmet-type coloured image sonar volume of the present invention is little, and quality is light, and power consumption is little and imaging resolution is high;
5, helmet-type coloured image sonar of the present invention can be installed on frogman's helmet as head lamp, can hang over easily on frogman's waistband, the requirement that frogman searches for can not only be met under water, and liberated the both hands of frogman, strengthen underwater operation degree of freedom and the comfort level of frogman, also can show in real time in face, land simultaneously, also can be fixed on each position of various underwater operation platform easily, meet the requirement of underwater environment and target imaging in various situation.
Accompanying drawing explanation
Fig. 1 is the structural representation of helmet-type coloured image sonar of the present invention;
Fig. 2 is the structural representation of sonar capsule in one embodiment;
Fig. 3 is the structural representation of control enclosure in one embodiment;
Fig. 4 is the structural representation of the signal processing module in control enclosure in one embodiment;
Fig. 5 is the structural representation of video eyeglasses in one embodiment;
Fig. 6 is that the structural representation putting transducer is closed in the transmitting-receiving in one embodiment in sonar capsule.
Drawing explanation
1 sonar capsule 2 control enclosure
3 video eyeglasses 11 stepper motors
Transducer 13 transmission shaft is put in 12 transmitting-receiving conjunctions
14 watertight connector 21 signal pre-processing modules
22 signal processing module 23 format converting module
24 memory module 25 control modules
26 power supply 27 box bodys
31 eyeglass 32 amplifier modules
33 miniscope 34 video eyeglasses cylinders
The semicircle polyoxymethylene housing of 121 bar shaped piezoelectric ceramic transducer 122
123 lead-in wire axle 221 sampling units
222 analytic unit 223 coding units
Embodiment
Now the invention will be further described by reference to the accompanying drawings.
With reference to figure 1, helmet-type coloured image sonar of the present invention comprises sonar capsule 1, control enclosure 2, video eyeglasses 3; Wherein, described sonar capsule 1 is connected to control enclosure 2 by watertight cable, and described control enclosure 2 is also connected with video eyeglasses 3 by watertight cable.
Below the module in the present invention is described further.
Described sonar capsule 1 can externally environment Firing Sonar signal, and receives echoed signal.Fig. 2 is in one embodiment, the structural representation of sonar capsule 1, and as shown in the figure, sonar capsule 1 comprises stepper motor 11, transducer 12, transmission shaft 13 are put in transmitting-receiving conjunction; Described stepper motor 11 is put transducer 12 by transmission shaft 13 with described transmitting-receiving conjunction and is connected.Described stepper motor 11 can 0-150 degree between reciprocating rotation, and then by transmission shaft 13 drive transmitting-receiving conjunction put transducer 12 0-150 degree between reciprocating rotation.Described transmitting-receiving conjunction puts transducer 12 within the scope of 0-150 degree, launches and receive a sonar signal every certain angle (in the present embodiment being 0.45 degree, also can be other angle value in other embodiments).Described sonar capsule 1 also includes a watertight connector 14, and sonar capsule 1 connects watertight cable by this joint, and then is connected to control enclosure 2.Because sonar capsule 1 needs to be arranged on the helmet of frogman, therefore described sonar capsule 1 should have the features such as volume is little, quality light, housing watertightness performance is good.For this reason, stepper motor 11 is demand fulfillment dimensions not only, and will ensure motor strength, and the motor adopted is 25BYHJ60-404A.With reference to figure 6, described transmitting-receiving conjunction is put transducer 12 and is comprised a bar shaped piezoelectric ceramic transducer 121, semicircle polyoxymethylene housing 122 and lead-in wire axle 123; Described bar shaped piezoelectric ceramic transducer 121 is positioned at described semicircle polyoxymethylene housing 122, and be provided with lead-in wire axle 123 in the lower end of described semicircle polyoxymethylene housing 122, described lead-in wire axle 123 is connected with transmission shaft 13.Semicircle polyoxymethylene housing 122 plays two effects, and one is protection piezoelectric ceramic transducer 121, exempts from it and is impacted and ruptures, and before can ensureing that the emitted energy of transducer focuses on the other hand, and does not spread rearwards.The outermost of described sonar capsule 1 includes the housing for the protection of stepper motor 11, section transmission axle 13, and this housing should ensure that transmission shaft 13 rotates nimbly and freely, can ensure again 50 meters of abundant watertights under water.
Described control enclosure 2 processes the sonar signal that sonar capsule 1 exports, and extracting outside environmental information, obtaining the two-dimensional image data for reflecting external environmental information by sonar signal.The two-dimensional image data that control enclosure 2 generates is transferred to video eyeglasses 3 after format conversion, optionally, also two-dimensional image data can be transferred to outside land display device simultaneously.Fig. 3 is in one embodiment, the structural representation of control enclosure 2, as shown in the figure, part in dotted line frame in control enclosure 2(Fig. 3) comprise signal pre-processing module 21, signal processing module 22, format converting module 23, memory module 24, control module 25 and power supply 26, above-mentioned module is all positioned at box body 27.
Described signal pre-processing module 21 comprises prime amplifier, or wave filter, or comprises prime amplifier and wave filter simultaneously, and it can comprise the pretreatment operation of amplification, filtering to the sonar signal gathered by sonar capsule 1.
With reference to figure 4, described signal processing module 22 comprises sampling unit 221, analytic unit 222, coding unit 223; Described sampling unit 221 is sampled to through pretreated sonar signal, obtains sampled signal; Described analytic unit 222 pairs of sampled signals do FFT computing, obtain the value of reflected signal intensity; The value of described coding unit 223 to obtained reflected signal intensity does pseudo-color coding, namely finds out the color of the most applicable display of each point according to the reflection coefficient of object, thus generates two-dimensional image data.
Described format converting module 23 pairs of two-dimensional image datas are converted to the data layout that can show on video eyeglasses 3, as the rgb value of 16.
The two-dimensional image data that described memory module 24 generates for storing described signal processing module 22.Described memory module 24 is SD cards.
Described control module 25 provides polytype controlling functions, comprises and controlling image-forming range, signal gain, areas imaging angle, and the startup of whole sonar system and closedown.Described image-forming range is the range that sonar of the present invention will detect, described sonar detection range depends on that the pulse length of putting the sonar signal that transducer 12 sends is closed in transmitting-receiving, and transmitting-receiving is closed and put that transducer 12 is launched, the time interval of Received signal strength, control module 25 can be closed transmitting-receiving and be put transducer 12 and send corresponding control signal to realize control to sonar detection range.In the present embodiment, sonar of the present invention provides 1.5m, 3m, 12m, 23m, 50m, 100m six conventional detection range and selects for frogman.According to different detection ranges, transmitting-receiving is closed and is put the sonar signal that transducer 12 sends different pulse length, and arranges the time of reception interval different to echoed signal.Described signal gain is used for strengthening or decaying echoes signal, thus controls the sharpness of sonar image, and its selectable scope is-10 ~ 30dB.The gain that control module 25 pairs of signal processing modules 22 send corresponding control signal to achieve a butt joint the signal received controls.Described areas imaging angle reflects to close puts sonar signal that transducer 12 sends to the sweep limit of external environment condition, and control module 25 sends control signal to stepper motor 11, the rotational angle of control step motor 11, thus is controlled to as field angle.The startup of described system and closedown, send corresponding control signal to realize startup and the closedown of system by control module 25.
Described power supply 26 is for providing electric energy for all the other modules in control enclosure 2 and sonar capsule 1, video eyeglasses 3.
After described video eyeglasses 3 receives two-dimensional image data from control enclosure 2, generate two dimensional image according to two-dimensional image data.Fig. 5 is in one embodiment, the structural representation of video eyeglasses 3, as shown in the figure, video eyeglasses 3 comprises eyeglass 31, amplifier module 32, miniscope 33, three is arranged in order in video eyeglasses cylinder 34, in the present embodiment, according to practical situations of the present invention, in the present invention, the field angle of miniscope 33 is designed to 28.5 °, amplifier module 32 enlargement factor is designed to 10X, and video eyeglasses has focusing function, can focus according to actual conditions, to make visual effect best, and there is watertight pressure-resistant ability.Video eyeglasses 3 is connected with watertight cable by watertight connector 35, two-dimensional image data is obtained from control enclosure 2 by watertight cable, miniature display screen 33 generates two dimensional image according to two-dimensional image data, and the sight of user can see the two dimensional image of the reflection external environment condition be exaggerated on the miniscope 33 of 10 times by eyeglass 31 and amplifier module 32.Described video eyeglasses 3 should have good watertightness.Described miniscope 33 can adopt existing VGA-045 miniscope on market.
Helmet-type coloured image sonar of the present invention in use, sonar capsule 1 is arranged on (as installed by support or headband) on the helmet of frogman, video eyeglasses 3 is arranged on the eye of frogman's helmet, control enclosure 2 is placed in the frogman such as loins or front to think and be connected position easily respectively by watertight cable sonar capsule 1, video eyeglasses 3 with control enclosure 2.If necessary, also control enclosure 2 can be connected with the external connection display equipment being placed in land by watertight cable.
When frogman works under water, the course of work of helmet-type coloured image sonar of the present invention is as follows:
Step 1), frogman by control enclosure 2 power-on switch, and are arranged image-forming range, signal gain, scanning angle scope.
Step 2), transmitting-receiving in sonar capsule 1 closes to put after transducer 12 receives order and namely starts outwards to launch sound pulse.Put transducer 12 by transmitting-receiving conjunction after sound pulse is reflected by objects ahead to receive, produce a line sonar signal of fan-shaped display image, the sonar signal produced is transferred in control enclosure 2.
In the present embodiment, assuming that transmitting-receiving is closed and put that the pulse that transducer 12 launches be width is τ, transmission interval is T, centre frequency is f
0sinusoidal signal.Selected image-forming range is D, and signal gain is R, and areas imaging angle is θ.
Step 3), control enclosure 2 pairs of sonar signals do amplify, the pre-service such as filtering, then sonar signal is sampled, obtains sampled signal; Sampled signal, after FFT computing, obtains the value of reflected signal intensity, and these values are carried out pseudo-color coding, generates a line of fan-shaped display view data and stores.
Stepper motor 11 in step 4), sonar capsule 1 according to setting angle (as in the present embodiment mention 0.45 degree) rotation, repeat step 2 in each angle), step 3), form a line in fan-shaped display view data, after the data of each bar line being spliced, obtain described fan-shaped display view data;
Such as, scanning angle scope set in step 1) is 0-150 degree, and each angle of going forward one by one rotated is 0.45 degree, then form the data of 333 lines in this step altogether, generates fan-shaped display view data after the data splicing of these 333 lines.
Step 5), the two-dimensional image data obtained control enclosure 2, have different subsequent treatment according to different working methods.Described working method comprises: (1), under water without the need to being connected with face, land, the external connection display equipment and the control enclosure 2 that are namely positioned at land disconnect, and the independent operation of frogman now only has video eyeglasses 3 to show image, only for frogman's observation; (2) be connected with face, land under water, namely the external connection display equipment being positioned at land is connected with control enclosure 2, now video eyeglasses 3 and the two display of external connection display equipment, frogman and face, land personnel can observe underwater environment simultaneously, simultaneously, the keyboard that land personnel can be equipped with by land display device sends information to frogman, and these information meeting roll display is on video eyeglasses, and frogman can see.
When external land display device and control enclosure 2 disconnect, two-dimensional image data only carries out format conversion, is converted to the data layout that can show in video eyeglasses 3, and transfers signals in video eyeglasses 3; When external land display device is connected with control enclosure 2, two-dimensional image data is divided into two-way to transmit, one tunnel is directly transferred to external land-based installation and shows, without the need to format conversion, meanwhile, external land display device can send information to frogman downwards by the keyboard be equipped with, and information can be presented on the video eyeglasses that frogman wears, another road, after format conversion, is transferred to video eyeglasses 3 and shows.
It should be noted last that, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted.Although with reference to embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, modify to technical scheme of the present invention or equivalent replacement, do not depart from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of right of the present invention.
Claims (7)
1. a helmet-type coloured image sonar, is characterized in that, comprises sonar capsule (1), control enclosure (2), video eyeglasses (3); Wherein, described sonar capsule (1) can be arranged on the helmet, and described video eyeglasses (3) can be arranged on the eye of the described helmet; Described sonar capsule (1) is connected to control enclosure (2) by watertight cable, and described control enclosure (2) is also connected with video eyeglasses (3) by watertight cable;
Described sonar capsule (1) externally environment Firing Sonar signal receive echoed signal under the control of control enclosure (2); Described control enclosure (2) processes the sonar echo signal that sonar capsule (1) exports, and therefrom extracts the information of external environment condition, is then converted into two-dimensional image data; Described two-dimensional image data is in the upper display of described video eyeglasses (3); Wherein,
Described control enclosure (2) comprising: signal pre-processing module (21), signal processing module (22), format converting module (23), memory module (24), control module (25), power supply (26) and box body (27); Wherein,
Described signal pre-processing module (21) does to received sonar echo signal the pretreatment operation comprising amplification, filtering, described signal processing module (22) will sample through pretreated signal, analyze and pseudo-color coding, obtain two-dimensional image data; Two-dimensional image data is converted to by described format converting module (23) can at the data layout of the upper display of described video eyeglasses (3); Described memory module (24) is for storing described two-dimensional image data; Described control module (25) controls image-forming range, signal gain, areas imaging angle, and controls startup and the closedown of sonar;
Described control enclosure (2) also comprises the interface that display device land with outside is connected, by this interface, described two-dimensional image data can be sent to outside land display device by described control enclosure (2), the data that user is sent by outside land display device can also be shown on described video eyeglasses (3).
2. helmet-type coloured image sonar according to claim 1, is characterized in that, described sonar capsule (1) comprises stepper motor (11), transducer (12), transmission shaft (13) are put in transmitting-receiving conjunction; Wherein, described stepper motor (11) is put transducer (12) by transmission shaft (13) and described transmitting-receiving conjunction and is connected; Described stepper motor (11) reciprocating rotation between certain angle, and then drive described transmitting-receiving conjunction to put transducer (12) reciprocating rotation between this angular range by transmission shaft (13); Described transmitting-receiving conjunction is put transducer (12) and is launched every certain smaller angle in described angular range and receive a sonar signal.
3. helmet-type coloured image sonar according to claim 2, it is characterized in that, described transmitting-receiving conjunction is put transducer (12) and is comprised a bar shaped piezoelectric ceramic transducer (121), semicircular shell (122) and lead-in wire axle (123); Described bar shaped piezoelectric ceramic transducer (121) is positioned at described semicircular shell (122), be provided with described lead-in wire axle (123) in the lower end of described semicircular shell (122), described lead-in wire axle (123) is connected with described transmission shaft (13).
4. helmet-type coloured image sonar according to claim 2; it is characterized in that; the outermost of described sonar capsule (1) includes the housing for the protection of stepper motor (11) section transmission axle (13); this housing has watertightness, and described transmission shaft (13) can be made to rotate flexibly.
5. helmet-type coloured image sonar according to claim 1, it is characterized in that, described signal processing module (22) comprises sampling unit (221), analytic unit (222), coding unit (223) further; Described sampling unit (221) is sampled to through pretreated sonar signal, obtains sampled signal; Described analytic unit (222) does FFT computing to sampled signal, obtains the value of reflected signal intensity; The value of described coding unit (223) to obtained reflected signal intensity does pseudo-color coding, namely finds out the color of the most applicable display of each point according to the reflection coefficient of object, thus generates two-dimensional image data.
6. helmet-type coloured image sonar according to claim 1, it is characterized in that, described video eyeglasses (3) comprises eyeglass (31), amplifier module (32), miniscope (33), and three is arranged in order in video eyeglasses cylinder (34); Wherein, described miniscope (33) generates two dimensional image according to received two-dimensional image data, and the sight of user sees the two dimensional image that can reflect external environment condition by eyeglass (31) and amplifier module (32) on described miniscope (33); Described video eyeglasses cylinder (34) has watertightness.
7., based on the formation method that the helmet-type coloured image sonar one of claim 1-6 Suo Shu realizes, comprising:
Step 1), frogman by control enclosure (2) power-on switch, and arranges image-forming range, scanning angle scope, signal gain;
Step 2), transmitting-receiving in described sonar capsule (1) closes to put after transducer (12) receives order and starts outwards to launch sound pulse; Put transducer (12) by described transmitting-receiving conjunction after sound pulse is reflected by objects ahead to receive, produce the line sonar signal in fan-shaped display, the sonar signal produced is transferred in described control enclosure (2);
Step 3), described control enclosure (2) comprises the pre-service of amplification, filtering to sonar signal, then sonar signal is sampled, obtains sampled signal; Sampled signal, after FFT computing, obtains the value of reflected signal intensity, and these values are carried out pseudo-color coding, generates a line of fan-shaped display view data and stores;
Step 4), stepper motor (11) in sonar capsule (1) rotates according to the angle of setting, repeat step 2 in each angle), step 3), form a line in fan-shaped display view data, after the data splicing of each bar line obtained in each anglec of rotation by sonar capsule (1), obtain described fan-shaped display view data;
Step 5), when external land display device and described control enclosure (2) disconnect, above-mentioned fan-shaped display view data only carries out format conversion, be converted to the data layout that can show in video eyeglasses (3), and transfer signals in video eyeglasses (3); When external land display device is connected with described control enclosure (2), two-dimensional image data is divided into two-way to transmit, one tunnel is directly transferred to external land display device and shows, simultaneously, external land display device sends information to frogman, on the video eyeglasses (3) that the information displaying sent is worn frogman, another road, after format conversion, is transferred to described video eyeglasses (3) and shows.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410131019.XA CN103869323B (en) | 2014-04-02 | 2014-04-02 | A kind of helmet-type coloured image sonar and formation method thereof |
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| CN201410131019.XA CN103869323B (en) | 2014-04-02 | 2014-04-02 | A kind of helmet-type coloured image sonar and formation method thereof |
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| Publication Number | Publication Date |
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| CN104569991A (en) * | 2015-02-06 | 2015-04-29 | 中国安全生产科学研究院 | Sonar detection device for three-dimensional space of mine gob |
| CN105187775B (en) * | 2015-08-04 | 2016-11-02 | 盛泽明 | Diver's subaqueous rock avoidance system based on data communication |
| CN105072395B (en) * | 2015-08-04 | 2016-10-26 | 刘更新 | A kind of diver's subaqueous rock preventing collision method based on data communication |
| CN105059503A (en) * | 2015-08-05 | 2015-11-18 | 彭晓梅 | Clarified rock avoiding system worn by diver |
| CN105100722B (en) * | 2015-08-10 | 2019-08-23 | 武汉理工大学 | A kind of sound sighting device |
| CN109799507A (en) * | 2019-03-26 | 2019-05-24 | 南京砺剑光电技术研究院有限公司 | A kind of fusion of imaging device of two dimension sonar and auxiliary laser illumination imaging device |
| CN110045380B (en) * | 2019-04-02 | 2020-12-29 | 中国科学院声学研究所 | Portable handheld imaging sonar mechanical device |
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| CN102893236A (en) * | 2010-07-20 | 2013-01-23 | 英派尔科技开发有限公司 | Augmented reality proximity sensing |
| CN203759244U (en) * | 2014-04-02 | 2014-08-06 | 王静 | Helmet color image sonar |
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| US5148412A (en) * | 1991-02-21 | 1992-09-15 | American Oilfield Divers, Inc. | Diver guidance method and system |
| CN102893236A (en) * | 2010-07-20 | 2013-01-23 | 英派尔科技开发有限公司 | Augmented reality proximity sensing |
| CN203759244U (en) * | 2014-04-02 | 2014-08-06 | 王静 | Helmet color image sonar |
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