阅读说明：本技术 一种海洋渔业捕捞拖网网口形状三维测量方法及装置 (Three-dimensional measurement method and device for shape of net mouth of marine fishery fishing trawl ) 是由 李国栋 谌志新 陈军 汤涛林 张玉涛 于 2019-11-28 设计创作，主要内容包括：本发明公开了一种海洋渔业捕捞拖网网口形状三维测量方法及装置,涉及海洋渔业拖网捕捞领域,解决了传统拖网网口测量无法获得整个网口形状影响捕捞效率的弊端,其技术方案要点是包括有均匀间隔设置于拖网网口上进行定位的若干定位阵元、对定位阵元进行控制并对定位检测到的位置信息进行接收处理的主控机、对主控机与各定位阵元之间进行数据信号传输的数据传输电缆；所述主控机获取各定位阵元的位置信息,并根据各定位阵元的相对位置确定拖网网口的形状,本发明的一种海洋渔业捕捞拖网网口形状三维测量方法及装置,能够准确的确定拖网网口的精确三维形状,便于调节网口以提高拖网捕捞效率。(The invention discloses a three-dimensional measuring method and a three-dimensional measuring device for the shape of a trawl opening of marine fishery fishing trawl, which relate to the field of marine fishery trawl fishing and solve the problem that the trawl opening measurement cannot obtain the shape of the whole trawl opening to influence the fishing efficiency; the main control computer acquires the position information of each positioning array element and determines the shape of the trawl door according to the relative position of each positioning array element.)

1. A three-dimensional measurement method for the shape of a net opening of a trawl for marine fishery is characterized by comprising the following steps:

the main control machine sends a self-checking instruction to a plurality of positioning array elements arranged on the trawl door to determine that each array element is in a working state;

each positioning array element enters a working state and is divided into a first group of array elements and a second group of array elements according to the position of the positioning array elements on the trawl door;

the main control machine sends a positioning instruction, each positioning array element of the first group of array elements and the second group of array elements receives the positioning instruction, and the positioning instructions are transmitted and received alternately according to a set period;

the positioning array elements obtain relative position information between the positioning array elements and transmit the relative position information to the main control computer;

the main control machine receives and processes the relative position information of each positioning array element, calculates and obtains the relative position between each positioning array element, and determines the shape of the net mouth of the trawl according to the relative position of the positioning array elements.

2. The three-dimensional measurement method for the shape of the net mouth of the marine fishing trawl according to claim 1, wherein the alternate transmission and reception states of each positioning array element comprises the following specific steps:

each positioning array element is provided with an array element number corresponding to each other one by one;

the main control machine sends a positioning instruction with array element numbers;

each array element receives and compares the positioning instruction, and when the positioning instruction is judged to contain the array element number corresponding to the positioning instruction, the positioning array element enters a transmitting state; otherwise, entering a receiving state.

3. The three-dimensional measurement method for the shape of the net mouth of the marine fishing trawl according to claim 2, wherein the step of obtaining the relative position information of the positioning array elements of the first array element and the second array element comprises the following specific steps:

the positioning array elements of the first group of array elements and the second group of array elements alternately enter a receiving state and a transmitting state;

acquiring self depth information of each positioning array element in a transmitting state, and measuring the relative distance between each positioning array element and each positioning array element in a receiving state through underwater acoustic ranging;

each positioning array element in a receiving state acquires own depth information and receives and acquires relative distance information of the positioning array element in a transmitting state;

and calculating and determining the relative position between the positioning array elements by the same positioning array element in the receiving state according to the relative distance and the depth information between the same positioning array element and each positioning array element in the transmitting state.

4. The three-dimensional measurement method for the shape of the net mouth of the marine fishing trawl according to claim 3, wherein the positioning of each positioning array element comprises the following specific steps:

positioning array element initialization parameters, including corresponding array element numbers;

the positioning array elements receive the transmitted self-checking instruction, each array element carries out clock synchronization and enters a waiting state, and the waiting state receives the positioning instruction to set a working state, wherein the working state comprises transmitting and receiving;

when the positioning array element enters a transmitting state, calling a transmitting subprogram to enable the positioning array element to transmit a positioning signal;

when the positioning array element enters a receiving state, calling an acoustic receiving subprogram, a pressure receiving subprogram, an angle subprogram, a data packing subprogram and a data transmission subprogram, and receiving, packing and transmitting relative position information;

and each positioning array element carries out alternate receiving and transmitting of positioning signals according to a set period to complete the positioning of each positioning array element.

5. The utility model provides a three-dimensional measuring device of trawl net mouth shape is catched to marine fishery, characterized by: the system comprises a plurality of positioning array elements which are uniformly arranged on a trawl door at intervals for positioning, a main control computer for controlling the positioning array elements and receiving and processing the position information detected by positioning, and a data transmission cable for transmitting data signals between the main control computer and each positioning array element;

and the main control computer acquires the position information of each positioning array element and determines the shape of the trawl door according to the relative position of each positioning array element.

6. The three-dimensional measuring device for the shape of the net mouth of the marine fishing trawl according to claim 5, wherein: the positioning array elements are symmetrically divided into a first group of array elements and a second group of array elements which alternately transmit and receive position information in a set period according to the positions of the positioning array elements on the network port; each positioning array element comprises a pressure sensor for measuring the depth position, a compass for measuring the offset angle and a hydroacoustic sensor for measuring the relative distance with other positioning array elements.

7. The three-dimensional measuring device for the shape of the net mouth of the marine fishing trawl according to claim 6, wherein: the positioning array element comprises a main control DSP, an underwater sound transmitter and receiver, a communication circuit, a pressure sensor, an acoustic transducer, a magnetic compass, a power supply module and a peripheral circuit which are connected through communication.

8. The three-dimensional measuring device for the shape of the net mouth of the marine fishing trawl according to claim 7, wherein: the main control machine sends positioning instructions corresponding to the array element numbers to control the transmission/reception of the positioning array elements; the main control machine is provided with a sending period for sending the positioning instruction.

Technical Field

The invention relates to the field of marine fishery trawl fishing, in particular to a method and a device for three-dimensionally measuring the shape of a port of a marine fishery trawl.

Background

Trawl fishery is one of the main operation modes of marine fishery. The trawl net still occupies a very important position in modern fishery production due to the advantages of wide fishing objects, high fishing efficiency, flexible production initiative, wide operation range and the like. In the fishing operation process of the trawler, in order to realize higher fishing efficiency, trawlnets with different total lengths from dozens of meters to hundreds of meters are adopted, and under the condition that the current state of a net opening is known, the net opening can be expanded as much as possible in different operation environments by adjusting the course depth and direction of the trawler, the length of a trawl rope and the like, so that the fishing efficiency of the trawlnets is improved.

According to the traditional net mouth current state measuring method, the distance between two ropes close to a net mouth is measured by respectively additionally arranging acoustic long-distance devices, namely a net position instrument in general, at two ends of the net mouth, the shape of the whole net mouth cannot be obtained, the shape of the net mouth of a trawl cannot be accurately obtained, and then the size of the net mouth cannot be timely adjusted to carry out fishing, so that the trawl fishing efficiency is influenced.

Disclosure of Invention

The invention aims to provide a three-dimensional measurement method and a three-dimensional measurement device for the shape of a trawl opening of marine fishery fishing, which can accurately determine the accurate three-dimensional shape of the trawl opening and facilitate adjustment of the trawl opening so as to improve the trawl fishing efficiency.

The technical purpose of the invention is realized by the following technical scheme:

a three-dimensional measurement method for the shape of a net opening of a trawl for marine fishery comprises the following steps:

the main control machine sends a self-checking instruction to a plurality of positioning array elements arranged on the trawl door to determine that each array element is in a working state;

each positioning array element enters a working state and is divided into a first group of array elements and a second group of array elements according to the position of the positioning array elements on the trawl door;

the main control machine sends a positioning instruction, each positioning array element of the first group of array elements and the second group of array elements receives the positioning instruction, and the positioning instructions are transmitted and received alternately according to a set period;

the positioning array elements obtain relative position information between the positioning array elements and transmit the relative position information to the main control computer;

the main control machine receives and processes the relative position information of each positioning array element, calculates and obtains the relative position between each positioning array element, and determines the shape of the net mouth of the trawl according to the relative position of the positioning array elements.

Preferably, the alternating transmission and reception states of each positioning array element comprises the following specific steps:

each positioning array element is provided with an array element number corresponding to each other one by one;

the main control machine sends a positioning instruction with array element numbers;

each array element receives and compares the positioning instruction, and when the positioning instruction is judged to contain the array element number corresponding to the positioning instruction, the positioning array element enters a transmitting state; otherwise, entering a receiving state.

Preferably, the step of obtaining the relative position information of the positioning array elements of the first group of array elements and the second group of array elements comprises:

the positioning array elements of the first group of array elements and the second group of array elements alternately enter a receiving state and a transmitting state;

acquiring self depth information of each positioning array element in a transmitting state, and measuring the relative distance between each positioning array element and each positioning array element in a receiving state through underwater acoustic ranging;

each positioning array element in a receiving state acquires own depth information and receives and acquires relative distance information of the positioning array element in a transmitting state;

and calculating and determining the relative position between the positioning array elements by the same positioning array element in the receiving state according to the relative distance and the depth information between the same positioning array element and each positioning array element in the transmitting state.

Preferably, the positioning of each positioning array element comprises the following specific steps:

positioning array element initialization parameters, including corresponding array element numbers;

the positioning array elements receive the transmitted self-checking instruction, each array element carries out clock synchronization and enters a waiting state, and the waiting state receives the positioning instruction to set a working state, wherein the working state comprises transmitting and receiving;

when the positioning array element enters a transmitting state, calling a transmitting subprogram to enable the positioning array element to transmit a positioning signal;

when the positioning array element enters a receiving state, calling an acoustic receiving subprogram, a pressure receiving subprogram, an angle subprogram, a data packing subprogram and a data transmission subprogram, and receiving, packing and transmitting relative position information;

and each positioning array element carries out alternate receiving and transmitting of positioning signals according to a set period to complete the positioning of each positioning array element.

A three-dimensional measuring device for the shape of a trawl door of a marine fishery fishing trawl comprises a plurality of positioning array elements which are uniformly arranged on the trawl door at intervals for positioning, a main control computer which controls the positioning array elements and receives and processes the position information detected by positioning, and data transmission cables which transmit data signals between the main control computer and each positioning array element;

and the main control computer acquires the position information of each positioning array element and determines the shape of the trawl door according to the relative position of each positioning array element.

Preferably, the plurality of positioning array elements are symmetrically divided into a first group of array elements and a second group of array elements which alternately transmit and receive position information in a set period according to the positions of the positioning array elements on the network ports; each positioning array element comprises a pressure sensor for measuring the depth position, a compass for measuring the offset angle and a hydroacoustic sensor for measuring the relative distance with other positioning array elements.

Preferably, the positioning array element comprises a main control DSP, an underwater sound transmitter and receiver, a communication circuit, a pressure sensor, an acoustic transducer, a magnetic compass, a power supply module and a peripheral circuit which are connected through communication.

Preferably, the positioning array elements are provided with array element numbers corresponding to the positioning array elements one to one, and the main control computer sends positioning instructions corresponding to the array element numbers to control the positioning array elements to work.

In conclusion, the invention has the following beneficial effects:

through the setting at a plurality of location array elements that the trawl net mouth set up, can be according to the shape of the relative position determination net mouth between the location array element, through the mutual location between each location array element, and the control and the calculation of main control computer handle, can acquire the relative position between each location array element, and then can confirm the accurate three-dimensional shape of trawl net mouth, and then can conveniently adjust fishing boat course degree of depth, the direction, and modes such as trawl rope length make under the different operation environment of net mouth open as far as possible, improve trawl fishing efficiency, use more accuracy, high efficiency.

Drawings

FIG. 1 is a schematic view of a three-dimensional measuring device for the shape of a net opening of a marine fishery fishing trawl;

FIG. 2 is a main flow chart of the positioning operation performed by each positioning array element;

FIG. 3is a diagram illustrating a first set of array elements entering a transmit state;

FIG. 4 is a diagram illustrating a second array element entering a transmit state;

FIG. 5 is a block flow diagram of an initialization module;

FIG. 6 is a block flow diagram of a receive instruction subroutine;

FIG. 7 is a block flow diagram of a transmit subroutine;

fig. 8 is a block flow diagram of an underwater sound receiving subroutine;

FIG. 9 is a block flow diagram of a pressure receiving subroutine;

FIG. 10 is a block flow diagram of the angle reception subroutine;

FIG. 11 is a block flow diagram of a data packing subroutine and a data transmission subroutine;

FIG. 12 is a schematic view of the principle of underwater net port shape measurement;

FIG. 13 is a hardware block diagram of a positioning array element;

FIG. 14 is a schematic diagram of the internal structure of a positioning array element;

FIG. 15 is a system block diagram of BF 533;

FIG. 16 is a logic block diagram of the main control board FPGA

FIG. 17 is a block diagram of an underwater acoustic receiver;

FIG. 18 is a block diagram of an underwater acoustic transmitter;

fig. 19 is a power management block diagram.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

According to one or more embodiments, the disclosed three-dimensional measurement method for the shape of the net mouth of the marine fishing trawl comprises, as shown in fig. 1, a fishing vessel trawl, a plurality of positioning array elements installed on the net mouth of the fishing vessel trawl, a main control computer for control and processing, and a data transmission cable for data transmission, and specifically comprises the following steps:

the main control machine sends a self-checking instruction to a plurality of positioning array elements arranged on the trawl door to determine that each array element is in a working state;

each positioning array element enters a working state and is divided into a first group of array elements and a second group of array elements according to the position of the positioning array elements on the trawl door;

the main control machine sends a positioning instruction, each positioning array element of the first group of array elements and the second group of array elements receives the positioning instruction, and the positioning instructions are transmitted and received alternately according to a set period;

the positioning array elements obtain relative position information between the positioning array elements and transmit the relative position information to the main control computer;

the main control machine receives and processes the relative position information of each positioning array element, calculates and obtains the relative position between each positioning array element, and determines the shape of the net mouth of the trawl according to the relative position of the positioning array elements.

Specifically, the alternating transmission and reception states of each positioning array element specifically comprise the following steps:

each positioning array element is provided with an array element number corresponding to each other one by one;

the main control machine sends a positioning instruction with array element numbers;

each array element receives and compares the positioning instruction, and when the positioning instruction is judged to contain the array element number corresponding to the positioning instruction, the positioning array element enters a transmitting state; otherwise, entering a receiving state.

Specifically, the step of obtaining the relative position information of the positioning array elements of the first group of array elements and the second group of array elements specifically includes:

the positioning array elements of the first group of array elements and the second group of array elements alternately enter a receiving state and a transmitting state;

acquiring self depth information of each positioning array element in a transmitting state, and measuring the relative distance between each positioning array element and each positioning array element in a receiving state through underwater acoustic ranging;

each positioning array element in a receiving state acquires own depth information and receives and acquires relative distance information of the positioning array element in a transmitting state;

and calculating and determining the relative position between the positioning array elements by the same positioning array element in the receiving state according to the relative distance and the depth information between the same positioning array element and each positioning array element in the transmitting state.

Further, as shown in fig. 2, the positioning of each positioning array element specifically comprises the following steps:

positioning array element initialization parameters, including corresponding array element numbers;

the positioning array elements call a receiving instruction subprogram to receive transmitted self-checking instructions, each array element carries out clock synchronization and enters a waiting state, the positioning instructions of the main control computer are waited to be received to set a working state, and the working state comprises transmitting and receiving;

when the positioning array element enters a transmitting state, calling a transmitting subprogram to enable the positioning array element to transmit a positioning signal;

when the positioning array element enters a receiving state, calling an acoustic receiving subprogram, a pressure receiving subprogram, an angle subprogram, a data packing subprogram and a data transmission subprogram; acquiring, storing, filtering and calculating underwater sound time delay values of all paths by calling an acoustic receiving subprogram; a pressure regulating receiving subprogram is used for collecting, smoothing and calculating pressure values and converting the pressure values into depths; the angle-adjustment receiving subroutine receives the north-seeking angle value measured by the compass. The measured data are packed and sent to a data packet through an agreed transmission protocol, and a main control computer receives the data packet to calculate the relative position;

and each positioning array element carries out alternate receiving and transmitting of positioning signals according to a set period to complete the positioning of each positioning array element.

As shown in fig. 3 and 4, if eight positioning array elements are provided, and the number of the corresponding array element is 1# to 8#, preferably, the eight positioning array elements are symmetrically divided into two groups, the main control computer sends a positioning instruction, and the positioning instruction includes 1#, 2#, 3#, and 4#, then the 1#, 2#, 3#, and 4# positioning array elements enter a transmitting state, and the rest positioning array elements enter a receiving state. And the main control computer receives the data and preliminarily calculates the positions of the positioning array elements. After the set delay time, the main control computer sends positioning instructions with numbers of 5#, 6#, 7#, and 8#, the positioning array elements corresponding to the numbers of 5#, 6#, 7#, and 8# enter a transmitting state, and the rest positioning array elements enter a receiving state. The main control computer receives the data and preliminarily calculates the positions of the positioning array elements, and thus, the periodic alternation is carried out according to the time interval period.

The initialization parameters of the positioning array elements are processed by an initialization module, and after the system is powered on, the initialization is firstly carried out, and as shown in fig. 5, the initialization module carries out initialization of the array elements, and besides the initialization of the array elements, the initialization module also comprises system initialization, initialization of the on-chip and the off-chip and initialization of some variables.

The system initialization comprises internal initialization influencing the operation of a CPU and peripheral initialization influencing the work of each on-chip peripheral. Since the on-chip peripherals are only started when needed, the initialization of the peripherals does not need to be included in the system initialization. Here only stack, interrupt initialization is performed. When the program calls the interrupt service program or subprogram, the PC value of the program counter and some important register values are subjected to stack protection, so that the program can normally continue to execute from the break when returning. The initialization of the on-chip peripheral comprises the initialization of a clock generator, a serial port, a UART port, a PF, a universal timer, an external bus interface part and the like. Variable initialization includes initialization of some variables. The parameter initialization sets different array element numbers, transmitting frequencies and the like.

As shown in fig. 6, which is a schematic flow diagram of the instruction receiving subroutine, after the main control computer sends all the self-checking instructions, it receives the returned data to determine that the positioning array element is in the working state; and receiving a main control computer instruction transmitted by a data packet through a serial port, and generating interruption after receiving one frame of data to synchronize the positioning array elements. And judging the array element number in the instruction, comparing the array element number with the array element number, if the array element number in the instruction is the same as the array element number, entering a transmitting state by the positioning array element, and if the array element number in the instruction is different from the array element number, entering a receiving state.

Fig. 7 is a schematic flow chart of the transmission subroutine. A model machine transmitter adopts a D-type power amplifier, and when an array element enters a transmitting state, a square wave signal with specified parameters is sent through a DSP SPORT port. The frequency of the transmitted signal is determined according to the cable where the array element is located: the 1# cable is 65 KHz; the 2# cable is 68 KHz; the 3# cable is 71 KHz; the 4# cable is 74 KHz.

When the array element enters a receiving state, the DSP acquires the underwater sound signal through the port0, as shown in fig. 8, which is a schematic flow diagram of an underwater sound receiving subroutine, the length of the acquired signal is 0.5 seconds of receiving, and the data is stored through the DMA, and then the data is repeatedly called to perform filtering of different frequency points, and time delay is calculated. Here the AD sampling rate is 500KHz, the NOTCH filter center f1 is 65KHz, f2 is 68KHz, f 3is 71KHz, and f4 is 74 KHz.

When the array element enters a receiving state, the DSP collects a pressure signal through port1, as shown in fig. 9, which is a flow chart of a pressure receiving subroutine, specifically, collects 10 sets of data, performs averaging, converts the pressure value into a depth value, and stores the depth value. The AD sampling rate is here chosen to be 500 KHz.

When the array element enters a receiving state, the DSP receives angle data through the SPI port, as shown in fig. 10, which is a flow chart of an angle receiving subroutine, the compass module sends measurement data through the RS232 port, and receives the data into the DSP by converting the SPI port to the RS232 port. 10 groups of data are collected, averaged and stored. The AD sampling rate is here temporarily defined as 500 KHz.

As shown in fig. 11. The data packing subprogram and the data transmission subprogram are characterized in that after all required depth, angle and time delay data are obtained by array elements through measurement and calculation, the data are packed according to a communication protocol and are transmitted.

In the measurement of the shape of the port of the trawl, more positioning devices can be used, and the high-precision positioning of the underwater towline is possible. The characteristics of multi-sensor positioning are fully considered for positioning each section of the net mouth, the advantages of various positioning means are exerted to improve the positioning precision of the underwater net mouth, and the array element positioning principle of multi-sensor fusion of the underwater multi-cable positioning system based on the long baseline is solved. As shown in fig. 12, the depth information of the positioning array element is directly obtained by the pressure sensor. By combining the depth information, the underwater sound positioning system symmetrically solves X coordinates and Y coordinates of each section of the towing cable from two ends to the middle. And the longitudinal positioning error of the array elements on the streamer is larger than the transverse positioning error, and the phenomenon is more obvious along with the increase of the order. The compass data is introduced to re-determine the longitudinal position of the streamer, which improves the positioning accuracy of the system to some extent and may improve the reliability of the system.

According to one or more embodiments, the disclosed three-dimensional measuring device for the shape of the net mouth of the trawl for marine fishery comprises a trawl, as shown in fig. 1, and comprises a plurality of positioning array elements, a main control computer and a data transmission cable. All the positioning array elements are uniformly installed on the trawl door at intervals, and positioning operation is carried out to obtain position information; the main control machine is arranged on a trawler, controls each positioning array element, receives and calculates the position information of the positioning array elements, calculates to obtain the relative position information among the positioning array elements, and obtains the three-dimensional shape of the trawl door according to the relative position relation of the positioning array elements on the trawl door; and signal data are transmitted between the main control machine and each positioning array element through data transmission cables.

The plurality of positioning array elements are symmetrically divided into a first group of array elements and a second group of array elements according to the positions of the positioning array elements on the trawl door, and each positioning array element is correspondingly provided with a unique identifiable array element number. The main control machine sends a positioning instruction corresponding to the array element number to control the positioning array element to perform positioning operation. As shown in fig. 3 to 4, if eight positioning array elements are provided, and the number of the corresponding array element is 1# to 8#, preferably, the eight positioning array elements are symmetrically divided into two groups, the main control computer sends a positioning instruction, and when the positioning instruction includes 1#, 2#, 3#, and 4#, the 1#, 2#, 3#, and 4# positioning array elements enter a transmitting state, and the rest positioning array elements enter a receiving state. And the main control computer receives the data and preliminarily calculates the positions of the positioning array elements. After the set delay time, the main control computer sends positioning instructions with numbers of 5#, 6#, 7#, and 8#, the positioning array elements corresponding to the numbers of 5#, 6#, 7#, and 8# enter a transmitting state, and the rest positioning array elements enter a receiving state. The main control machine receives data and preliminarily calculates the positions of the positioning array elements, so that the periodic alternation is carried out according to the time interval period, and the mutual positioning among the positioning array elements is completed.

The positioning array elements are all of the same type, and as shown in fig. 13, each positioning array element comprises a pressure sensor for measuring a depth position, a compass for measuring an offset angle, and an underwater acoustic sensor for measuring a relative distance between the positioning array element and other positioning array elements, and the underwater acoustic sensor comprises an underwater acoustic transmitter and a receiver; the system also comprises a master control DSP, a communication circuit, an acoustic transducer, a power supply module and a peripheral circuit which are connected through communication. As shown in fig. 14, the internal structure of each positioning array element is schematically illustrated.

The compass is preferably of the type HMR3000, has a small structure, and can achieve the heading measurement accuracy of 0.50. The HMR3000 compass outputs data by adopting an RS232 serial interface, and a UART port of the DSP is used for data transmission, so that the compass data is received by adopting a method of converting an SPI port to an RS232 port. Signals received by the pressure sensor are amplified, converted by the ADC and then sent to a DSP SPORT1 port; meanwhile, the system also has the battery voltage monitoring capability, the output voltage of the battery is sent to the analog-to-digital converter ADC for sampling after being subjected to voltage division, and the output voltage is sent to the DSP SPORT1 port after being converted by the ADC. The battery voltage and pressure data measurement device ADC is preferably of the type ADS8320 EB.

The DSP processor is the core part of the array element and completes the functions of receiving data real-time analysis, transmitting sound pulse signals, monitoring power supply and the like. Meanwhile, the system requires a DSP processor to have low power consumption, PWM signal output, capability of directly driving a power amplifier, rich interfaces and the like. The DSP processor is chosen to be Blackfin 533. Blackfin533 (hereinafter abbreviated as BF533) is one of new products ADSP-BF533, ADSP-BF532 and ADSP-BF531 which are completely compatible with three pins of an enhanced Blackfin DSP and are provided on the basis of Blackfin DSP series, and the new products ADSP-BF533, ADSP-BF532 and ADSP-BF531 have the fastest speed and the lowest power consumption in the same products. Wherein ADSP-BF533 has a clock frequency of 600MHZ and a 1.2GMACS operation speed. The processor series integrates an on-chip switching regulator, and can generate a kernel working voltage which can be set between 0.7V and 1.2V by utilizing the voltage of a 2.25V-3.6V external power supply, thereby realizing the enhanced dynamic power supply management function, further reducing the overall cost and saving external power supply components. As shown in fig. 15, is a system block diagram of BF 533.

BF533 has the following main characteristics:

1) the 16-bit fixed-point DSP core can realize continuous work of the highest 600 MHz;

2)2 16-bit Multiply Accumulators (MAC), 2 40-bit Arithmetic Logic Units (ALU), and the operation speed of 1.2GMACS can be achieved at the speed of 600 MHz;

3) flexible software control dynamic power management, support 4 kinds of operation modes;

4) the L1 instruction memory includes 80KB SRAM, where 16KB can be configured as a 4-way set associative Cache;

5) the L1 data memory includes banks of 232 KB SRAMs, each Bank being made up of two 16 KB;

6) SRAM constitutes 1 of which 16KB can be configured as Cache;

7) support for off-chip synchronous or asynchronous memory (including PCI33 SDRAM);

8) flexible boot method (SPI or external storage resource);

9) the memory management unit provides memory protection;

10) 2-level interrupt event processing;

11) having an RTC module;

12) having a WatchDog timer;

13) two 32bit calculators;

14)16 GPIOs;

15)1 universal serial port supporting IrDA;

16) a Parallel Peripheral Interface (PPI) capable of being seamlessly connected with the parallel AD and DA;

17)1 SPI compatible port (supporting 7 channels);

18)2 two-channel full-duplex synchronous serial interfaces (SPORT);

19) and the 12-channel DMA comprises peripheral DMA and memory DMA.

A miniaturized main control DSP module is designed for an array element structure, and as shown in FIG. 13, the array element structure is composed of a core processor DSP, a FLASH memory, an SDRAM and the like, so that debugging is facilitated, and cost can be saved.

The FLASH memory is an electrically erasable and rewritable nonvolatile memory, and can ensure that stored data cannot be lost even if the system is powered off. The FLASH memory has large capacity, nonvolatility and high access speed, so the FLASH memory is particularly suitable for being used as a storage medium of a large-capacity data acquisition system. SST39V160 is preferred. The capacity of the memory is 16Mbit (1 Mx 16bit), the read, write and erase operations can be completed only by 2.7V voltage, only 14 mus is needed for writing one word (16bit), and only 70ms is needed for erasing the whole memory.

The SDRAM is used for buffering data and for caching applications when the internal SRAM space is insufficient. The method has the advantages of large unit space storage capacity and low price, and is widely applied to various embedded systems. Synchronous memory control in the EBIU of BF533 provides a seamless interface with standard SDRAM. The EBIU uses a System Clock (SCLK) as the clock of the SDRAM, and the SCLK can be obtained by MMR programming of a PLL system inside the DSP, so that the speed of accessing the external SDRAM can be set according to the requirements of different systems on the cache speed, and the flexibility of the embedded system on power consumption control is improved. HY57V561620C (32MBytes) is preferably used.

The specific allocation of the peripheral interface of the master DSP is shown in fig. 13, and specifically includes: the UART interface is connected with the communication circuit for input and output, so that data communication is realized; the SPI interface is converted into two paths of RS232, one path receives compass data, and the other path is standby; the input interface of the SPORT0 receives underwater sound related information acquired by the underwater sound receiver, and the output interface is connected with the underwater sound transmitter to transmit signals; the input interface of the SPORT1 is connected with and receives a voltage signal output by the pressure sensor; and the EBIU interface is connected with the FLASH memory and the SDRAM to store programs and data.

And for underwater sound related information acquired by the underwater sound receiver, data acquisition and related operation are completed through the FPGA so as to send related result data to the DSP. The FPGA preferably adopts Cyclone III which is a low-cost and low-power-consumption device, is manufactured by adopting a 65nm low-power-consumption device of TSMC, and has optimized software characteristics so as to reduce the power consumption to the maximum extent. As shown in fig. 16, it is an internal logic block diagram of an array element motherboard FPGA, and its implementation is completed through VHDL. As shown in fig. 17, the transducer converts the underwater acoustic signal into a weak electrical signal, which needs to be amplified and filtered by the receiver, quantized by a single bit, and then sent to the FPGA for processing. The working frequency band of the underwater acoustic receiver is as follows: 60 kHz-80 kHz; analog output voltage range: -3.0V- + 3.0V; the output signal form is analog signal and zero-crossing detection digital pulse; the adjustable amplification gain range is 20 dB; a working power supply: 5V, and (5); working temperature: minus 10 ℃ to plus 55 ℃.

As shown in fig. 18, the underwater acoustic transmitter preferably adopts a D-type power amplifier structure, with a center frequency of 70kHz and a frequency band of 20 kHz; the transmitting signal is in the form of single-frequency filling pulse; the emission source level is 180 dB; the pulse width is less than 2 ms; duty cycle less than 1: 3000, supply voltage 14.4V input signal form: reverse double digital level (minimum 3.0V)

The hardware system is powered by a battery, and preferably adopts a switching power supply with high conversion efficiency.

The power requirements of the system are as follows:

1) power amplifier: 3.6V × 4 section 14.2V;

2) a DSP processor: + 3.3V;

3) FPGA and peripheral circuit: +3.3V, +2.5V, + 1.2V;

4) receiver power supply: + 5V;

5) communication circuit power supply: +5V, -5V;

6) magnetic compass power supply: + 5V.

The above various power supplies (except power amplifier) are all obtained by battery pack conversion. Specific power management as shown in fig. 19, the first switching power supply converts +14.2V of the battery output into +3.8V and +3.0V, respectively, wherein 3.8V is provided to LDO1, LDO2, and +3V is provided to LDO 3. The second switching power supply converts the +14.2V output by the battery into +1.6V and +5.5V, wherein the +1.6V is provided for the LDO4, and the +5.5V is provided for the LDO5 and the LDO 6. LDO7 converts +5V to-5V. The switching power supply is preferably of the type LT1940 EFE. The low-dropout linear power supply LDO1, LDO2, LDO3, LDO4, LDO5 and LDO6 are preferably LT1763IS 8; LDO7 is preferably model LT1054 lL; in order to reduce the average power consumption of a prototype system, the LDO2, the LDO3, the LDO4 and the LDO5 adopt DSP program control, and when the system is in a long-time waiting state, the LDO2, the LDO3, the LDO4 and the LDO5 are powered off, corresponding circuits are turned off.

The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.