KR20120009640A - Antisubmarine warning system for the shallow sea - Google Patents

Abstract

In the present invention, in the West Sea area where the water depth is low within 100M, and there is a problem with the shadow zone due to the water temperature difference, it is difficult to detect the submarine in the ship far away in the horizontal direction, it detects and strikes the submarine with accurate, safe and high detection rate at the early stage of penetration. We also wanted to implement a system that could identify the pia. In addition, it was intended to realize that the twine is not damaged by fishing nets, fish shocks, and typhoons caused by typhoons. Electricity for sensors and control devices can be self-supported. In addition, the information detected by the sensor can be quickly delivered from the remote ship and control center, and control commands issued from the ship and control center can be transmitted to the control device in real time. The aim was to detect and respond to submarines safely and quickly.
For improved detection accuracy and safe and fast detection and response, SONAR is placed under the sea to be monitored without being trapped or towed, allowing only near objects to be detected, and adding SONAR again when it is out of range. In addition, the FALSE ALRAM is very small and the accuracy is very high.
In order to reduce the shadow area problem, SONAR installed in a network structure in the supervised sea area gives unique ultrasonic pulses distinguished by codes, allowing multiple SONARs to operate simultaneously, even if one SONAR causes a shadow area problem. Can detect the reflected wave normally. In addition, the sound field problem is further improved by allowing pulses emitted by one SONAR to be identified by the other SONAR.
In order to identify the enemy and allies, we implemented an ultrasonic identification device that notifies allies in response to SONAR, and the PIA identification process operates automatically and secretly using the SONAR characteristic, exposing the information to the friendly position and PIA identification intention. This was to minimize.
In order to prevent the twine from being damaged by fishing nets, fish shocks, and strong winds caused by typhoons, a method was devised in which each node did not use cables for power, communication, and support. First of all, in order not to use the power cable, a small generator using a tidal current that can adequately supply the power required by each node is implemented. In order not to use a communication cable, an ultrasonic transceiver and a router were installed to relay transmissions, and wireless transmissions could be made to ships and control centers in remote areas. The protection net is applied to protect the rotating body, the sensor, the control device, and the communication device for the generation of electricity. The protection net is implemented in a hemispherical shape of the mosquito net structure to reduce the power generation efficiency and to be less damaged by the external force. In order to eliminate the supporting cable, a small sized node and a fixed device suitable for various sea floor installations were implemented. Also, a remote control device that can be installed and repaired remotely in a ship was implemented to quickly and easily install and maintain the sea.
In addition, sensors, control devices, and detonators are networked on the floor, so that detected information can be quickly delivered to traps and control centers, and control commands issued by judgment are transmitted in real time to the control and detonator located at the point. In this way, ships and control centers can detect and respond to submarines safely and quickly and accurately.
Therefore, the present invention is a submarine submarine early warning system capable of detecting and responding to submarine in early detection quickly and accurately and stably even in a difficult situation such as the West Sea, which has a large water temperature difference, a large change in algae, and active fishing operations. Would be greatly helpful. In addition, it can be constructed at a relatively low cost compared to expensive surveillance systems such as SOSUS, and it can be relatively reduced in maintenance cost and time.

Description

Inshore Submarine Boundary System {ANTISUBMARINE WARNING SYSTEM FOR THE SHALLOW SEA}

The present invention relates to a system for monitoring and guarding submarines penetrating into the sea.

Due to the sinking of the Cheonan in the West Sea, new defenses against ships are urgently needed. Especially in seas with low depths and rapidly changing tides, such as the West Sea, it is not enough to defend with existing radar and sonar bays. There is SOSUS that detects submarines by detecting ultrasonic waves applied to all seas, including deep seas. However, twin fishing vessels are operated and the western sea, which is affected by typhoons, is damaged due to damage to devices, low depth, and shadow area. Inadequate Therefore, there is an urgent need for a submarine submarine boundary system suitable for bordering low-depth oceans such as the West Sea.

In the present invention, in the West Sea region where the water depth is low within 100M, and there is a problem of the shadow zone due to the water temperature difference, and it is difficult to detect the submarine in a distant ship in the horizontal direction, it detects the submarine with accurate, safe and high detection rate at the beginning of penetration. We wanted to implement a system that could strike and identify pia.

In addition, it was intended to realize that the twine is not damaged by fishing nets, fish shocks, and typhoons caused by typhoons. Electricity for sensors and control devices can be self-supported.

In addition, the information detected by the sensor can be quickly delivered from the remote ship and control center, and control commands issued from the ship and control center can be transmitted to the control device in real time. The aim was to detect and respond to submarines safely and quickly.

For improved detection accuracy and safe and fast detection and response, SONAR is placed under the sea to be monitored without being attached or towed to a trap, allowing SONAR to detect only objects in close proximity and another point outside the detection range. The SONAR is further installed, and relay transmission is performed between the SONARs, so that the FALSE ALRAM is very small, the accuracy is very high, and the boundary system can be detected quickly at the early stage of penetration.

Also, in order to reduce the shadow area problem, the SONAR installed in the network structure in the monitoring area has a unique ultrasonic pulse distinguished by a code, so that multiple SONARs can operate at the same time, even if one SONAR has a shadow area problem. SONAR is able to detect the reflected wave normally. In addition, the sound range problem is doubled by making the pulse sent by one SONAR distinguishable by the other SONAR.

In addition, in order to identify the enemy and allies, we implemented an ultrasonic identification device that notifies allies in response to SONAR, and the PIA identification process operates automatically and secretly using the SONAR characteristics, so that the information based on the location and PIA identification intention of the allies is implemented. Exposure was minimized.

Also, in order to prevent the nodes from being damaged by the twine fishing nets, the impact of the fish, the strong winds caused by the typhoon, etc., each node was derived a method that does not use cables for power, communication, and support. First of all, in order not to use the power cable, a small generator using a tidal current that can adequately supply the power required by each node is implemented. In order not to use a communication cable, an ultrasonic transceiver and a router were installed to relay transmissions, and wireless transmissions could be made to ships and control centers in remote areas. The protection net is applied to protect the rotating body, the sensor, the control device, and the communication device for the generation of electricity. The protection net is implemented in a hemispherical shape of the mosquito net structure to reduce the power generation efficiency and to be less damaged by the external force. In addition, to eliminate the support cable, a miniaturized node and a separate fixing device suitable for various sea floor installations are implemented. Also, a remote control device that can be installed and repaired remotely from a ship is implemented for quick and simple installation and maintenance.

In addition, sensors, control devices, and detonators are networked on the floor so that detected information can be quickly delivered to the ships and control centers. It was designed to ensure that ships and control centers could detect and respond to submarines safely and quickly.

Currently, the new sea defense system is urgently needed due to the sinking of the Cheonan in the West Sea, but the West Sea has a lot of shade zone problems due to the rapid change of algae, large water temperature difference, and very low sea depth. It is not enough to detect only the traps by using it, and even if it is detected, if the detection is made in close proximity to the trap, there is not enough time to respond.

Accordingly, the present invention is a submarine submarine early warning system capable of detecting and responding to submarine intrusion early and accurately in a difficult situation such as the West Sea, which has a large water temperature difference, a large tide change, and active fishing vessels. Would be greatly helpful. In addition, it can be constructed at a relatively low cost compared to expensive surveillance systems such as SOSUS, and it can be relatively reduced in maintenance cost and time.

1 is a conceptual diagram of the present invention, a figure showing a state in which a submarine is detected using a sensor in the boundary area, and the detection information is quickly sent to the trap.
2 is a diagram illustrating transmission of information detected by relay transmission between nodes.
3 is a diagram illustrating a method of assigning a unique code to SONAR.
4 is a diagram illustrating a method for pia identification.
5 is a diagram illustrating a method of reusing a cell frequency for a SONAR sensor.
6 is a diagram showing a state in which the mobile route of the submarine is grasped by arranging nodes in a net form.
7 is a diagram showing a state of obtaining position information through the ship.
8 is a diagram illustrating a state of obtaining location information through neighboring nodes.
9 is a block diagram of a node.
10 is a block diagram for distributed SONAR.
11 is a block diagram of a reception processing unit of a distributed SONAR.
12 is a block diagram of an ultrasonic communicator.
13 is a block diagram of a pia identification device.
14 is a block diagram of a wireless remote blasting apparatus.
15 is a view showing a small generator using a tidal current.
16 is a diagram showing the arrangement of the ultrasonic vibrator using the protective net and the protective net.
FIG. 17 is a diagram showing a node installed remotely using an unmanned submersible.
18 is a view showing the body of the unmanned submersible.
19 shows a robot hand and a support leg of an unmanned submersible.
Figure 20 is a view showing the jig for fixing the fixture and the fixture for installation.
Figure 21 is a view showing a jig for fixing the fixing device and the fixing device for rock installation.
22 is a view showing a node fixed by using a lock installation device.

Due to the sinking of the Cheonan in the West Sea, new defenses against ships are urgently needed. Especially in seas with low water depths and rapidly changing tides, such as the West Sea, it is not enough to use existing radars and existing sonar bays. It is applied to all seas including the deep sea, and there is SOSUS which detects the submarine by ultrasonic waves, but it is not suitable for the west sea, which is a twin sea fishing operation and the typhoon-affected sea. Thus, there is a need for a submarine submarine surveillance system suitable for alerting low-depth oceans such as the West Sea.

Therefore, in the present invention, in order to improve detection accuracy and safe and fast detection and response, the SONAR is placed under the sea of the sea area to be monitored without being attached or towed to the trap, and the SONAR allows the detection of only a short range of objects and the detection range. At the point of departure, another SONAR was installed, and relay transmission was made between the sensors, so that the FALSE ALRAM was very small, the accuracy was very high, and the boundary system was able to detect quickly at the beginning of penetration.

Also, in order to reduce the shadow area problem, the SONAR installed in the network structure in the monitoring area has a unique ultrasonic pulse distinguished by a code, so that multiple SONARs can operate at the same time, even if one SONAR has a shadow area problem. SONAR is able to detect the reflected wave normally. In addition, the pulse region sent out by one SONAR can be identified by the other SONAR, which doubles the range problem.

In addition, in order to identify the enemy and allies, we implemented an ultrasonic identification device that notifies allies in response to SONAR, and the PIA identification process operates automatically and secretly using the SONAR characteristics, so that the information based on the location and PIA identification intention of the allies is implemented. Exposure was minimized.

In addition, in order to prevent damage to the nets of fishing boats, fish shocks, and strong winds caused by typhoons, a method was adopted to prevent the use of power, communication, and cables for each node. First of all, in order not to use the power cable, a small generator using a tidal current that can adequately supply the power required by each node is implemented. In order not to use a communication cable, an ultrasonic transceiver and a router were installed so that the relay could be wirelessly transmitted, and an RF could be sent to a ship and a control center over a long distance. In addition, the protection net is applied to protect the rotating body, sensor, control device, and communication device for electricity generation. The protection net is implemented in the hemispherical shape of the mosquito net structure to reduce the power generation efficiency and to be less damaged by external force. In addition, to eliminate the support cable, the node was miniaturized and a fixed device suitable for various sea floor installations was implemented.

In addition, in order to make installation and maintenance quick and simple, a remote control device that can be installed and repaired remotely in a ship is implemented.

It also connects the detonator to nodes in the network, allowing control commands issued from remote locations to be transmitted in real time to the control and detonator located at the point, so that ships and control centers can detect and respond to submarines safely and quickly and accurately. It was. If necessary, the detonation function may be added to the node configuring the network, or may be implemented as a separate node having only the detonation function without a sensor.

First, more detail for detection accuracy and safe and fast detection and response are as follows. A number of nodes equipped with sensors were installed at the boundary area, and an ultrasonic network was constructed to transfer information between nodes. In order to realize the network, each node has a built-in router and an ultrasonic transceiver to relay data in the AD-HOC relay method, and the CSMA / CD protocol is applied so that many nodes can exchange data by sharing a limited frequency band. In addition, we have derived a protocol for allocating time zones and bands so that both sonar and data communication modems can use ultrasound. In addition, at the point of contact with the land, there is an RF relay hub that converts the data received by ultrasonic waves into RF and transmits the information detected by the sensor to the ship and control center at a remote location. Control commands issued in real time are sent to the correct control device, allowing the ships and control centers to detect and respond to submarines safely and quickly.

The shadow area problem was solved in two ways. The first is to distribute the SONAR in several places, and the second is to identify one SONAR signal in another SONAR receiver. The first method is to distribute SONAR in several places in the sea area where penetration is expected. SONARs distributed in different places emit ultrasonic waves to different routes so that even if submarines are not detected due to shading problems at one point, submarines can be detected in other SONARs, improving shadow area problems. That's how. In the second method, as in the first method, SONAR is distributed in several places in the sea where the penetration is expected, but each emits an identifiable ultrasonic signal and can be received by other receivers. 3 is a diagram illustrating an identification code. The identification code and timing information transmission are made through data communication with each other, or injected at the time of installation. As mentioned above, the two methods are double applied to improve the shadow area problem.

Each SONAR uses a coded pulse and assigns a code set having a specific frequency at a specific time in the pulse as shown in FIG. 3, and the assigned code sets do not influence each other, and signals transmitted from one SONAR are different from each other. Signals can also be identified in the SONAR, so that even if the reflected signal does not return and reaches another SONAR, the distance and position of the object can be known, thereby improving shadowing problems and detection probability. The SONARs 101, 102, 103, 104, 105, 106, 107, 108, and 109 are installed as shown in FIG. 1, and each SONAR is assigned a code set having a specific frequency at a specific time in a pulse as shown in FIG. 6, and the assigned code sets do not influence each other. In addition, the pulse transmitter transmits ultrasonic pulses to the assigned code, but the receiver can receive other SONAR codes nearby to receive other SONAR pulses in addition to its own pulses as shown in FIG. 11 (1101, 1102, 1103). 1104).

The DETECTION PROCESSOR 1105 of FIG. 11 communicates with neighboring SONARs in advance to provide information such as the location information of the neighboring SONARs, the distance with them and the pulse transmission time, so that the pulses of other SONARs can be detected in addition to the reflection pulses of the own. Take advantage. The signal from other SONAR mitigates the blind phenomenon that the object at close distance is hard to see by the short wave reflected by the object at close distance and the incoming signal through DUPLEXER. In addition, the location information of neighboring nodes and reflected waves received from three or more other sonars can be used to accurately determine the location of the invading submarine using trigonometry. It provides information to help you pinpoint your expected course of action.

Detailed description for PIA identification is as follows. SONAR sends out ultrasonic pulses for PIA identification, and virtual echoes for identification on friendly submarines. Therefore, the reception pulse shape is as shown in FIG. In FIG. 4, 401 is a sending pulse, 402 is a reflection wave in a friendly submarine, and 403 is a response pulse sent by a friendly team for PIA identification. The SONAR has the same function as the existing SONAR, but additionally has a function of intentionally changing a transmission period and a function of finding a virtual reflection pulse by checking a time interval of reflected waves. The virtual reflective wave transmitting device is installed in a friendly submarine or a trap, receives a SONAR pulse, and plays a role in generating a virtual reflected wave when the intention to confirm the friendlyness in the SONAR is confirmed. The virtual reflected wave is sent out after a predetermined time delay based on the input pulse. Predetermined time delays are coded to keep them from being exposed. In addition, using the above code, if RANDOM is changed in a predetermined area but a delay is generated by using a pseudo random number generated by the correct order, it will be more difficult to decode at the right side.

Figure 4 (b) is a diagram showing the output pulse waveform of the SONAR with the PIA identification function. SONAR pulses are sent out at regular intervals as shown in the pulse repeat times 2 and 3 of FIG. 4, and when the reflected wave returns from an object determined to be trapped or submerged, an ultrasonic pulse is generated at a different period from the usual cycle to check whether it is a friendly force. Send the. When the cycle is confirmed in friendly vessels or submarines, the virtual reflector is sent out according to the above-described method, so that SONAR recognizes the friendly forces. The other period may be a predetermined fixed value or may be changed in a certain order by a code value. In order to make it more difficult for the enemy, it is advantageous to change frequently, so you can set several codes that change in a predetermined order, and change the code every day, and generate a pseudo random number according to the code value. Can also be used. Since the pseudorandom number changes randomly but changes according to a predetermined order, it is possible to restore it only by knowing the code value that generated the pseudorandom number. Can match the period of SONAR. Therefore, applying the delay method based on the pseudorandom number is more secure to the delay cycle exposure problem by the analysis of the redundancy.

The content for frequency reuse is explained in more detail as follows. 5 illustrates a concept of dividing a frequency and a code into cell units so that nodes 501, 502, 503, 504, 505, 506, 507, 508, 509 can simultaneously use a limited frequency resource. As shown in FIG. 5, two methods are available when allocating resources by dividing sectors in a cell form. In the first method, only one node transmits a pulse (coded pulse having a specific set of frequencies at a specific time in a pulse) in one cell 510, and the rest operates only in a reception mode. The cells have a hexagonal shape that allows code reuse every two cells. Therefore, it is possible to assign a specific code to be identified at a specific time throughout the border area. The second method is to allocate a code having a specific frequency set at a specific time within a pulse at a specific time within a cell 510 to allocate a code distinguished from neighboring nodes to enable pulse transmission at a neighboring node at the same time. Like the first method, the cells are hexagonal, allowing code reuse every two cells. Compared to the first method, many identifiable codes are required, but the advantage is that pulses can be sent simultaneously with neighboring furnaces. For both methods, the pulse receiver can receive a neighboring pulse code in addition to its own pulse code so that many other nodes can detect this signal even when the reflected wave of the pulse sent out from one node is refracted in the middle and directed to another place. In addition, by having the location information of the node at the time of installation, it is possible to determine the location of the penetration submarine using the reflected wave and the location information of the node detected elsewhere.

Detailed description for identifying the route of movement of the infiltration submarine is as follows. 6 is a diagram showing a submarine detection situation when the nodes are installed in the net structure in the sea. When the submarine is detected at the nodes 605 and 606 and moved to be detected at 610 and 607 and continuously moved to be detected at the 611 and 616, the submarines may use the data to predict the moving route, the moving speed, and the forward direction of the submarine. In SONAR, the distance between the node and the submarine can be known, and the direction can be known by using the directivity. However, as described above, if the pulse of one SONAR can be received by the other SONAR, the position of the reflected wave and the reflected wave from 3 points Using information, triangulation can be used to more accurately determine the location (latitude, longitude, height) of the submarine. The monitor 111 displays the map information and the target movement route so that it can be suspended and judged quickly.

The method of providing location information to a node is as follows. The node has a location information acquisition device composed of an ultrasonic communicator and a CPU, and the ship has a location information transmission device composed of an ultrasonic communicator and a CPU, and the ship has data indicating the received GPS information and a timestamp indicating the transmission start point. To transmit to the node installed in the sea, the process is repeated three or more times as the ship moves as shown in FIG.

In order to determine the location by trigonometry, only the location information of three points in different locations is required, but when ultrasonic waves progress in the sea, the phenomenon of refraction due to the gradient of water temperature difference may occur. It sends data including the location information and timestamp of the point, and the location information acquisition device checks the timestamp and the arrival time and uses the location information of the three points in the shortest path. This is because the ultrasound signal received in the shortest path is the path with the least refraction in the transmission process.

In the position information acquisition device installed in the sea, using the position information and time information sent from the three points determined in the above process and trigonometric calculation, it is possible to obtain the position information of the currently installed point. The GPS information uses DGPS data to increase location accuracy.

When three or more nodes are installed in the periphery according to the above procedure, as shown in FIG. Therefore, the remaining additional devices do not need the help of the location information transmission device installed on the ship. Also, when the node wants to update the location information when there is a position movement by external force after installation, the three nearby devices Location information can be obtained using the information of the above nodes.

Here's how to install a node: As shown in FIG. 17, a monitor 1708 and a remote control device are provided to control and view CCTV images and SONAR images on the mother bus, and the unmanned submersible 1701 loads devices 1710 and 1709 and installation tools to be installed in the water from the mother bus. The unmanned submersible 1701 opens the lid 1705 after diving to operate the CCTV camera 1704, the headlight, and the SONAR to transmit necessary flight information to the monitor 1708. The unmanned submersible 1701 is propelled using its own screw 1706, and the guard net 1707 prevents the cable from being caught by the screw 1706. The unmanned submersible 1701 includes a MEMS acceleration sensor and an angular velocity sensor for attitude control, and a communication unit for communicating with a mother ship to transmit current position information and flight information. The communication unit includes an ultrasonic modem, a wired network transmission device, an optical transceiver, and the like, so that wireless or wired operation can be performed. When the waves are calm and there is no problem in the wired operation, the optical fiber is used, and for this purpose, the optical transceiver and the optical fiber roll described above are mounted. If it is not possible to use the optical cable, it communicates by coaxial cable or ultrasonic wireless modem. In the mothership, the remote control device is used to remotely watch the video from the unmanned submersible.

Node In addition to sensors, control and detonator devices can be connected to add an electrical primer, a sensing sensor, a control circuit, a drive circuit, a data transceiver, and a self-generator to mines for remote hitting. . It also sends a signal from the mine's detector to the trap and control center so that it can be blown only when the pia is identified and determined to be necessary. The ships are stationed in safe waters, and the detection and blasting devices are placed in permeable areas to determine whether or not intercepting vessels and submarines are intercepted by the detectors so that they can be blown up remotely if necessary, providing a stable defense system at sea. To build.

The following is a detailed description of the operation and function with the configuration diagram and block diagram for the present invention. 1 is a conceptual diagram of the present invention installed at the bottom of the sea, the node 101, the sensor and the blasting device and the ultrasonic communication modem and the routing protocol is installed in the form of a mesh every hundred meters, each node has its own SONAR It monitors from the bottom upwards, and separates the SONARs of each node into unique codes and areas that are spatial, temporal, and frequency specific, allowing multiple sensors to monitor the submarine at the same time. The node detecting the intrusion transmits the detection information to the RF relay hub 102 which acts as a relay to the ground through the neighboring node. The RF relay hub 102 communicates with the nodes in the sea by ultrasonic and RF. The RF relay hub 102 sends node information to the control center 104 and the trap 103 via the RF transceiver. It also transmits control or blast commands from the trap 103 and control center 104 to the node. The RF relay hub 102 is installed on the point where the sea meets the land or on the rock protruding from the island or the sea. And the communication with the monitors 103 and 104 of the control center using RF. The RF transceiver uses a wireless transmission device using a military frequency band or a commercial wireless LAN device having a directional antenna. The RF relay hub 102 is connected to other nodes in addition to the nodes 101 shown in FIG. The monitors 103 and 104 are installed in the trap and control center, and have the same device as the RF transceiver of the RF relay hub 102 to receive detection signals or control and command signals through the node 101 and the RF relay hub 102. Send it.

2 is a diagram showing each node 201, 202, 203, 204, 205, 206, 207, 208, 209 arranged in a mesh structure to relay data by ultrasonic transmission between the nodes to form a data communication network. . Each node 201, 202, 203, 204, 205, 206, 207, 208, 209 basically has an active sonar that sends out ultrasonic pulses and measures distances using reflected pulses coming back from the object. It may be a complex sensor node with an additional SONAR.

9 is a block diagram of a node. As shown in FIG. 9, the node includes a SONAR 901, a CPU 902, an ultrasonic communicator 903, a router 914, an ultrasonic vibrator 904, 905, 911, 912, and 913, a generator 906, and a power supply unit. 907, posture detector 908, driver 909, and base 910. The operation of the SONAR 901 and the ultrasonic communicator 903 is the same as described above.

The router 914 serves to find a way to relay and transmit the information detected by the sensor to a destination such as a control center and a trap. In fact, the router 914 uses a memory that functions as a CPU 902 and a routing table. Although performed in the present invention, it is represented in the hardware block diagram for the purpose of explanation. The router 914 continuously updates and exchanges routing table data with neighboring nodes, and relays detection and control information in an AD-HOC manner with the shortest path recently transmitted. Therefore, the node has all the routers in addition to the ultrasonic communication modem.

The CPU 902 stores data such as location information, signal code, transmission time, and detection result, and transmits the data to neighboring nodes as necessary, or transmits them to a trap and control center at a remote location through the RF relay hub 110. . In addition, the CPU 902 manages operations such as transmission and reception of SONAR pulses, transmission and reception of an ultrasonic communication device, maintaining the posture of the base, and charging.

Generator 901 is a small electric generator using a tidal current, Figure 15 is a front view of the generator. The vertical axis 1503 of FIG. 15 is fixed to the base 1501, and the horizontal axis 1502 is connected to the vertical axis 1503 by a bearing to be supported and to be deflected by a bird. Rotors 1504, 1508, and 1509 are rotated while being supported by bearings by horizontal axes 1502, 1506, and 1507, respectively. The electricity generated by the rotors 1504, 1508, 1509 is connected to the power supply 907 in separate circuits so that when one rotor and the horizontal shaft fail, the electricity generated by the other rotor can be used smoothly. do. In addition, a permanent magnet is placed on the rotating bodies 1504, 1508, and 1509 and a winding coil is placed on the horizontal axes 1502, 1506, and 1507 to minimize the electrical contact to reduce the occurrence of a failure. The electricity generated by the rotation of the rotors 1504, 1508, 1509 is transmitted to the base through the contacts between the horizontal axes 1502, 1506, 1507 and the vertical axis 1503. At this time, the waterproof between the support shaft and the rotating shaft to prevent a short circuit. The electricity generated by the six rotors is combined through a diode and sent to the power supply 907.

The power supply 907 converts electricity generated from the generator 906 into a level suitable for each unit, or serves to charge the remaining power.

The base 910 serves to fix each component of the node. The CPU 902 senses the height and the horizontal posture using the MEMS acceleration and the angular velocity sensor of the posture detection unit 908 to maintain the base level at the same height as the bottom surface through the driver 909.

10 is a block diagram of a SONAR, where SONAR is an FPGA 1001, a D / A CONVERTER 1002, an LPF 1003, a POWER AMP 1004, a DUPLEXER 1005, an oscillator 1006, a reception signal processor 1007. It consists of

The CPU 1008 sends the assigned unique code to the FPGA 1001. The code is a set of TIME and FREQUENCY as shown at 301 of FIG. 3, and codes can be mutually identified with autocorrelation values using MATCHED FILTER.

The FPGA 1001 generates frequency data based on the code and sends it to the D / A CONVERTER 1002. The D / A CONVERTER 1002 generates an ultrasonic pulse with the data received from the FPGA 1001 and sends it to the LOW PASS FILTER 1003. The shape of the ultrasonic pulse passing through the LPF 1003 has different frequency values according to the times T1, T2, T3, T4, T5, T6, and T7 in the pulse, as shown in 302 of FIG. The pulse signal from the LPF 1003 is amplified through the POWER AMP 1004 and sent out underwater through the DUPLEXER 1005 and the ultrasonic vibrator 1006.

The transmitted ultrasonic pulse is reflected by the object in the water and returned. The reflected pulse is received by the reception signal processor 1007 through the ultrasonic vibrator 1006 and the DUPLEXER 1005. A detailed block diagram of the reception signal processing unit 1007 is shown in FIG. The pulses input to the reception signal processor 1007 are amplified through the PRE AMP 1106, which is a low noise amplifier, and then sent to the MATCHED FILTERs 1101, 1102, 1103, and 1104. MATCHED FILTER 1 (1101) has a maximum value when it matches its own code, and MATCHED FILTER 2, 3, 4 (1102, 1103, 1104) has a maximum value when it matches a code assigned to a nearby SONAR. To have. Each output value of MATCHED FILTER (1101,1102,1103,1104) is sent to DETECTION PROCESSOR (1105). The DETECTION PROCESSOR 1105 sends the A / D converted value and the corresponding MATCHED FILTER number to the FPGA 1001 for each signal value input from the MATCHED FILTERs 1101, 1102, 1103, and 1104. The PGA 1001 determines whether it is a pulse sent by itself or a pulse from another SONAR with the data sent from the DETECTION PROCESSOR 1005. The determination process is performed by comparing the output value of each MATCHED FILTER because the value of MATCHED FILTER 1 1001 is the maximum when the pulse is sent by itself and the MATCHED FILTER value is the maximum when the pulse is from the neighboring SONAR.

When it is confirmed that the pulse is sent through the above process, the distance to the object is calculated using the pulse transmission time and the reflected wave arrival time. If the other SONAR is identified as a pulse sent, the distance from the object is calculated using the position information of the SONAR having the corresponding code value, the pulse transmission time, and the received reflected wave arrival time. Position information and pulse transmission time of another SONAR are provided through the CPU 1008, and the CPU 1008 may obtain the information at the time of installation or may be provided through the ultrasonic communication unit 803 during operation.

The block diagram of the ultrasonic communicator 903 is a portion excluding a dotted line in FIG. 12. The communication between the ultrasonic communicators uses a CSMA / CD communication scheme in order to efficiently use a limited frequency resource. If the number of nodes increases, and if the network constitutes too much data to be transmitted, the frequency unit applied to the SONAR pulse is applied, thereby reusing frequency resources.

If any one node wants to transmit data, it first checks the received signal to see if another node is transmitting data. If no node is transmitting data, data is transmitted. If there is data to be sent such as location information, code information, detection information, and no other SONAR is in data transmission, the CPUs 1210 and 902 send the data to the FPGA 1201. The FPGA 1201 channel codes, modulates, and sends the data to be sent to the D / A CONVERTER 1202. The D / A CONVERTER 1202 converts the received data from the FPGA 1201 into an ultrasonic signal and sends it to the LOW PASS FILTER 1203. The ultrasonic signal passing through the LPF 1203 is amplified by the POWER AMP 1204 and is transmitted underwater through the DUPLEXER 1205 and the ultrasonic vibrator 1206. At this time, HALF DUPLEXING communication method is used because ultrasonic frequency band that can be used underwater is not wide. Therefore, after all data has been sent, return to receive mode and wait for a relative signal. The ultrasonic signal transmitted from the other party is received by the LNA 1207 through the ultrasonic vibrator 1206 and the DUPLEXER 1205. The ultrasonic signal input to the LNA 1207 is amplified by the low noise amplifier and then passed through the LPF 1208 low pass filter to A / D conversion in the A / D 1209. The A / D converted signal is sent to the FPGA 1201 to extract data through demodulation and channel decoding. The extracted data is sent to the CPUs 1210 and 902 for analysis and to store the data.

The block diagram of the location information acquisition apparatus is the same as the ultrasonic communicator except for the dotted line portion, and is the same as the entire block diagram including the dotted line portion in FIG. 12. As shown in FIG. 12, the position information acquisition apparatus includes an FPGA 1201, a D / A converter 1202, a low pass filter 1203, a power amplifier 1204, a duplexer 1205, an ultrasonic vibrator 1206, LOW NOISE AMP 1207, A / D CONVERTER 1209, CPU 1210, and posture detector 1211.

The communication between the location information acquisition device and the location information acquisition device and the location information transmission device uses a CSMA / CD communication method to efficiently use limited ultrasonic frequency resources. Therefore, if any one device wants to transmit data, it first checks the received signal to see if another device is transmitting data. If no device is transmitting data, it transmits data.

If there is data to be sent by the location information transmission device such as DGPS information and transmission time information, and no other device is transmitting data, the CPU 1208 sends the data to the FPGA 1201. The FPGA 1201 channel codes, modulates, and sends the data to be sent to the D / A CONVERTER 1202. The D / A CONVERTER 1202 converts the received data from the FPGA 1201 into an ultrasonic signal and sends it to the LOW PASS FILTER 1203. The ultrasonic signal passing through the LPF 1203 is amplified by the POWER AMP 1204 and is transmitted underwater through the DUPLEXER 1205 and the ultrasonic vibrator 1206. HALF DUPLEXING communication method is used because ultrasonic frequency band that can be used underwater is not wide. Therefore, after all data has been sent, return to receive mode and wait for a relative signal.

The ultrasonic signal reaching the position information acquisition device is received by the LOW NOISE AMP 1207 through the ultrasonic vibrator 1206 and the DUPLEXER 1205. The ultrasonic signal input to the LOW NOISE AMP 1207 is amplified through the low noise amplifier and then passed through the low pass filter to the A / D CONVETER 1209. The A / D converted signal is sent to the FPGA 1201 and extracted as data through demodulation and channel decoding. The extracted data is sent to the CPU 1210 for storage, and the CPU 1210 repeats the above procedure three times or more. The CPU 1210 calculates the position of the current point by trigonometry by taking only three pieces of position information arriving at the shortest time by calculating the stored data value.

The posture detector 1211 includes a MEMS acceleration sensor and an angular velocity sensor, and detects a position change and a posture change and sends it to the CPU 1210. If the position change is out of tolerance, the CPU 1210 updates the position information according to the above-described method by sending a position request signal to a nearby device, and when the position change is severe and needs to be corrected, through the peripheral device. It is sent to the control center by AD-HOC method to be calibrated so that the node can always detect and control in the optimal state.

In addition, the CPU 1210 of the location information acquisition apparatus transmits its own location information when the neighboring device requests the location information. The transmission process goes through the same process as when the location information transmission device transmits GPS information. The location information acquisition device also sends its location information as required by the control center and the ship. In the above process, when there is detection information, the detection information is sent together, and when there is no detection information, only the location information is separately transmitted. In this case, it is not necessary to send the sending time information.

Fig. 13 is a block diagram of a PIA identification SONAR and a virtual pulse transmitting device. The PIA identification SONAR and the virtual pulse transmitter are the same on the block diagram, except that the virtual pulse transmitter has an additional keyboard and display for inputting a time delay encryption code.

PIA identification SONAR is FPGA (1301), D / A CONVERTER (1302), LOW PASS FILTER (1303, 1308), POWER AMP (1304), DUPLEXER (1305), ultrasonic vibrator (1306), LOW NOISE AMP as shown in FIG. 1307, A / D CONVERTER 1309, and CPU 1310.

The CPU 1310 may further have a function of control, calculation, determination, and storage, and a function of sending detection and PIA identification information to the control center through an ultrasonic communicator as necessary. When the CPU 1310 determines to send an ultrasonic pulse for detection, it sends a pulse transmission signal to the FPGA 1301, and the FPGA 1301 generates data corresponding to the pulse waveform to the D / A CONVERTER 1302. send. As described above, the present invention is applicable to all SONAR types, so that the output of the D / A CONVERTER 1302 can be a waveform such as a simple pulse or a sine wave pulse or a pulse composed of a coded set of time frequencies. .

The output signal of the D / A CONVERTER 1302 filters the high frequency band through the LOW PASS FILTER 1303, is amplified through the POWER AMP 1304, and then is detected by the DUPLEXER 1305 and the ultrasonic vibrator 1306. It is sent out toward. The ultrasonic pulse transmitted is reflected when hit by an object, and is again input to the LOW NOISE AMP 1307 through the ultrasonic vibrator 1306 and the DUPLEXER 1305. The reflected pulse amplified by the LOW NOISE AMP 1307 passes only the low frequency through the LOW PASS FILTER 1308 and sends it to the A / D CONVERTER 1309. The A / D CONVERTER 1309 samples the analog pulse signal, converts it into a data form, and sends it to the FPGA 1301. The FPGA 1301 processes related data according to the compression pulse mode or the general pulse mode, and obtains values such as a distance to the object, a position, a moving speed, and a moving direction to the CPU 1310.

 If it is determined that the object generating the reflected wave is a trap or a submarine, the CPU 1310 sends a control signal to the FPGA 1301 to transmit the pulses by changing the pulse repetition period as described above. The FPGA 1301 generates an ultrasonic pulse in the same process as the above process, and generates the D / A CONVERTER 1302, the LOW PASS FILTER 1303, the POWER AMP 1304, the DUPLEXER 1305, and the ultrasonic vibrator 1306. After the pulse is sent to the object, the pit trap and the submarine's virtual reflection wave emitter checks the pulse period to generate and send the virtual reflection wave by the method described above. The virtual reflection pulse received at the PIA identification SONAR is transmitted to the CPU 1310 through the ultrasonic vibrator 1306, LOW NOISE AMP 1307, LOW PASS FILTER 1308, A / D CONVERTER 1309, and FPGA 1301. do. The CPU 1310 checks the delay value between the reflected wave and the virtual reflection wave in the above-described manner to identify PIAs.

14 is a configuration diagram of each ultrasonic remote blasting apparatus. Ultrasonic remote blasting apparatus is mine 1401, electric primer 1402, driving device 1403, control device 1404, communication device 1405, ultrasonic vibrator 1406, sensor 1407, power supply 1408 It consists of. Electrode primer 1402 is to install a nichrome wire in the gunpowder to explode a mine by applying power. The driving device 1403 receives a control signal and amplifies the power to an intensity capable of operating the electric primer 1402. That is, it supplies a current capable of heating the nichrome wire of the electric primer 1402. The control device 1404 decodes the signal transmitted from the communication device 1405, generates a blast signal to the driving device, and sends the signal to the driving device 1403. The control device 1404 also converts the submarine detection signal received from the sensor 1407 into a digital signal and sends it to the communication device 1405. The communication device 1405 receives an ultrasonic signal from the ultrasonic vibrator 1406, extracts a digital signal, and sends the digital signal to the control device 1404, and also converts the digital data received from the control device 1404 into an ultrasonic wave and vibrates the ultrasonic wave. (1406). The ultrasonic vibrator 1406 transmits and receives an ultrasonic signal with a repeater, that is, another ultrasonic remote blasting apparatus or an RF SONAR repeater. The power supply unit 1408 converts and supplies power generated by its own generator to an appropriate voltage for each unit, and serves to charge extra electricity. The communication device 1405 is not separately set when the ultrasonic remote blasting apparatus is included in a node, but is separately set for communication with a neighboring node when it is implemented separately from the node.

16 is a diagram illustrating a protection network 1601 and a base 1602 for a node. 16, the protection net 1601 has a hemispherical shape so as not to be caught in a net as shown in the figure, and has a structure of a mosquito net so as not to interfere with the flow of algae. The bottom surface of the guard net 1601, that is, the upper surface of the base 1602 is rounded so as to be less affected by the sediment, and the base 1602 enables three-axis control to adjust the height and attitude. The posture of the base is always kept horizontal to maximize the generation of electricity in the tidal stream. The base 1602 is implemented in the form of wrinkles on the side so as not to be caught in the net, and the side is not exposed even when the height and horizontal posture change.

17 shows a node being installed through a remote control device. The monitor 1708 moves the unmanned submersible 1701 to the bottom of the point to be installed by remote control while watching the CCTV screen and the SONAR reflected wave. When the unmanned submersible 1701 arrives at the bottom of the point where it will be installed, the four support legs 1702 and 208 on the side of the unmanned submersible 1701 are operated with their motors facing downwards and the shafts of the support legs rotated to support them. Have your legs pulled out and get stuck on the floor. Detailed views of the support legs 1702, 208 are shown on the right side of FIG. 19. As shown in FIG. 19, the support leg is composed of a threaded outermost portion 1909, a second outer portion 1910, a third outer portion 1911, and an inner shaft 1912, and the upper surface of each shaft transmits rotational force. Place grooves for receiving, and four grooves on the top of each axis. When the support leg is driven into the installation point, first, the rotation force is applied by using the groove 1913 of the upper part of the outermost part 1909, and when the outermost part is hit, the groove of the upper part of the second outer part 1910 ( 1914, the rotational force is applied, and when the second outer portion 1910 is hit, the rotational force is applied using the groove 1915 of the upper portion of the third outer portion 1910, and the third outer portion 1910 When it is hit, when the second outer portion 1910 is hit, the rotation force is applied by using the groove 1916 of the upper portion of the inner shaft 1910, so that it can be firmly fixed even if the depth of the deep.

When the unmanned submersible 1701 is fixed to the floor, select the mounting jig for the terrain and select the corresponding fixture to put the fixture on the floor. If the bottom is thin, install three or more anchoring fixtures. If it is a rock, put only one anchorage.

If the bottom of the floor is mud, sand, or surface, replace the jig for mounting fixture (2009) instead of the robot hand (1703), and in the front portion (1801) shown in Fig. Hold it firmly by applying magnetic force and place it at the point to be fixed and rotate it while pressing. At this time, the rotational force is transmitted by the jaw 2020 on the lower surface 2018 of the jig 2009 and the jaw of the upper part of the fixing device so that no force is applied to the thread of the fixing device.

In order to make the jig 2009 more securely hold the jaw fixture 2001 in the process, a cylindrical auxiliary support portion 2011 that can fit inside the jaw fixture 2001 2001 female screw 2002 inside the jig 2009 ). When the depth of the shock is deep, and the shock fixing device 2001 enters, the electromagnet of the robot hand is turned off to hold the expansion device 2004 in the same manner as when holding the locking device 2001 and holding the locking device 2001. , Align and rotate the extension on the fastener (2001). Again, the rotational force is transmitted by the jaw 2020 on the lower surface 2018 of the jig 2009 and the jaw on the upper portion of the expansion device 2004, and also fixed to the jaw on the lower surface 2008 of the expansion device 2004. The rotational force is transmitted by the jaw of the upper part 2003 of the device 2001 so that no force is applied to all threads. Repeat the above procedure until the bottom is firm and no longer rotates to secure the fixture. Repeat the above four times to complete the installation of the fixing device.

When the fasteners 2001 and 2004 are installed, the base 2204 of the node is fixed using the female screw 2002 of the nail portion 2001 or the female screw 2006 of the expansion device 2004 and the bolt.

  If the sea floor is rocky terrain, the rock fixture 2101 mounting fixture 2109 shown in FIG. 21 is replaced instead of the robot hand 103, and the rock fixation device (from the front portion 1801 shown in FIG. 1810), apply electricity to the electromagnet to hold it firmly, and then impact the head so that it is lodged in the rock. The fixture 2109 for the rock fixation device 2109 has an internal structure such that the female thread 2105 is not damaged by the impact of the head portion of the rock fixation device 2101. 2110, 2113, 2117, and 2116 of FIG. As shown in the staircase treatment and the 2117 part is not to touch the head portion 2105 of the rock fixing device (2101). Therefore, since all the forces are transmitted only to the parts 2116 and 2103, the rock fixing device can be strongly attached without damaging the female screw 2105 of the rock fixing device 2101. When the rock anchoring device 2101 is installed, the base 2204 of the node is bolted using the female screw 2105 of the head portion 2103 of the rock anchoring device 2101.

In order to fix the base 2204, the unmanned submersible 101 mounts a robot hand 1901. The robot hand 1901 of FIG. 19 is a jig that can be used to hold a general object such as the base 2204 or the protective net 2205. Robot hand is composed of joints (1902,1904,1906) and nodes (1901,1903,1905,1907), and the ends are rounded to make it easier to catch various objects, and are made of rubber material to reduce slippage and damage to objects caused by grip To prevent it. Two pairs of joints and nodes face each other, and the robot hand is placed on both sides of the unmanned submersible body so that the base 2204 or the guard net 2205 can be lifted using two robot hands. Using the two robot hands, the bases 2204 and 702 are lifted and placed on the fixing device. Replace one robot hand with bolt fixing jig and fix the base by holding bolt with bolt fixing jig. Since the bolt fixing jig is not different from the general tool, a description thereof will be omitted.

When the base 2204 of the device 1710 to be installed is fixed, both of them are replaced by the robot hand again, and the guard net 2205 is held and fixed to the base 2204. The fixing of the base 2204 and the guard net 2205 uses a locking device attached to the base. After fixing the node, the unmanned submersible sends the location information and initial setting information to the node.

Communication between the unmanned submersible 1701 and the installation device for initial data charging after installation uses ultrasonic waves to communicate with the ultrasonic device, and for this purpose, an ultrasonic modem is embedded in the submersible and installation device. Submersible ultrasonic modems are also used to transmit data to busbars. Using the position information received from the bus line through the ultrasonic modem, the MEMS acceleration sensor and the angular velocity sensor, accurate position information is calculated and transmitted to the node.

22 is a view showing a node fixed by using the fixing device when the sea floor is mud, mud, the day after tomorrow. When the distance to the rigid point is large, that is, when the expansion part of the fixing device takes a lot, it is fixed by three or more fixing devices 2201, 2202, and 2203 to reinforce the supporting force.

The lids 1705 and 1802 are rotatable up, down, left and right so that the body of the unmanned submersible 1701 can stare at a desired point without moving. Opening the lids 1705, 1802 allows the front of the body to be equipped with an installation device 1812, a fixture 1811, a fixture jig 1810, and a lid 1802 with a CCTV camera 1804, headlights (1803). ), SONAR oscillator is installed, the lid (1705, 1802) has the opening and closing rotation axis, and the left and right rotation axis perpendicular to the axis so that the unmanned submersible can stare at the necessary point without changing the posture. The front-mounted device and installation tool allow you to select and use the device and tools that require the robot arm.The tool and device can be programmed in advance with the tool and device in place and automatically pushed by the remote operator just by pressing the device and tool selection buttons. This tool moves and selects the necessary tools and devices, and an electromagnet is added to the robot arm so that various tools can be held freely and firmly while being compatible.

In this way, it is possible to detect and respond to submarine submarines early, quickly and accurately, even in difficult situations, such as the West Sea, where the water depth is low, the water temperature difference is large, the tide changes are large, and the operation of general fishing boats is active. It was.

101: node 102: RF relay hub
103: trap monitor 104: control center monitor
201, 202, 203, 204, 205, 206, 207, 208, 209: nodes
210: RF relay hub
301: FREQUENCY & TIME set
302: SONAR pulse
401: SONAR transmission pulse 402: reflected wave
403: response pulse 404: SONAR pulse 1
405: SONAR pulse 2 406: SONAR pulse 3
407 SONAR pulse 4
510, 520, 530, 540, 550, 560, 570: SONAR cells
511, 512, 513, 514, 515, 516, 517, 518, 519: nodes
601, 602, 603, 604, 605, 606, 607, 608: nodes
Nodes: 609, 610, 611, 612, 613, 614, 615, 616
701: location information acquisition device 702: location information transmission device
801: location information acquisition device to be installed
802, 803, 804: existing location information acquisition device
901: SONAR 902: CPU
903: Ultrasonic communication apparatus 904, 905, 911, 912, 913: vibrator
906: generator 907: power supply
908: Posture sensor 909: DRIVER
910: base 914: router
1001: FPGA 1002: D / A CONVERTER
1003: LOW PASS FILTER 1004: POWER AMP
1005: DUPLEXER 1006: oscillator
1007: reception signal processing unit 1008: CPU
1101, 1102, 1103, 1104: MATCHED FILTER
1105: DETECTION PROCESSOR 1106: PRE AMP
1201: FPGA 1202: D / A CONVERTER
1203, 1208: LOW PASS FILTER 1204: POWER AMP
1205: DUPLEXER 1206: oscillator
1207: LOW NOISE AMP 1209: A / D CONVERTER
1210: CPU
1301: FPGA 1302: D / A CONVERTER
1303, 1308: LOW PASS FILTER 1304: POWER AMP
1305: DUPLEXER 1306: oscillator
1307: LOW NOISE AMP 1309: A / D CONVERTER
1310: input and output unit
1401 mines 1402 electric primer
1403: drive device 1404: control device
1405: communication device 1406: ultrasonic vibrator
1407: detection sensor 1408: power supply
1501: support base 1502, 1506, 1507: horizontal axis
1503: vertical axis 1504, 1508, 1509: rotating body
1505, 1510, 1511: Rudder
1601: protection net 1602: base
1603, 1604, 1605, 1606, 1607, 1608, 1609: vibrator
1701: unmanned submersible body 1702: support legs
1703: robot hand 1704: CCTV camera
1705: lid 1706: screw
1707: Guard Net 1708: Monitor
1709: fixing device 1710: device to install
1801: front portion 1802: lid
1803: headlight 1804: CCTV camera
1805: Body 1806: Robot hand support
1807: support leg support 1808: support leg
1809: robot hand 1810: fixture jig
1811: fixing device 1812: device to install
1901: robot wrist 1902: joint 1
1903 Node 1 1904 Joint 2
1905: Node 2 1906: Joint 3
1907: Measure 3 1908: Object contact
1909: outermost part of the support bridge 1910: second outer part
1911: third outer portion 1912: internal axis
1913, 1914, 1915, 1916: home
2001: Fixture for shock absorber 2002: Female thread
2003: Top 2004: Expansion Unit
2005: Male 2006: Female
2007: Top side 2008: Bottom side
2009, 2013, 2021: Fixture jig 2010, 2014: Inside fixture jig
2011, 2015, 2019: Auxiliary Support 2012, 2016, 2022: Support Shaft
2020: jaw
2101: rock fixing device 2102: head
2103, 2106: head part 2104, 2107: head part
2105, 2108: Female thread
2109, 2112, 2115, 2118: Fixture jig
2110, 2113, 2116, 2117: inside of fixture
2111, 2114, 2119: support shaft
2201, 2202, 2203: Fixing device 2204 for base
2205: Protection net 2206, 2207, 2208: Bolt

Claims (2)

To be able to detect and respond to submarines quickly, accurately and safely in the West Sea,
A SONAR that provides a unique code for each node and networked the neighboring nodes to receive reflection waves from each other, thereby improving shading problems, and enabling pia identification in a simple manner using the characteristics of the SONAR;
A CPU that manages the control, storage, calculation, processing, determination, and data communication of the sonar, the router, the ultrasonic communicator, the attitude sensor, the driver, the generator, and the power supply which constitute the node;
An ultrasonic communicator for transmitting / receiving data between neighboring nodes, a ship and control center, an installation bus and a remote control device;
A router providing an optimal transfer path for transmitting data to a desired destination through relay transmission of a neighbor node;
An ultrasonic vibrator for freely directing ultrasonic pulses in up, down, left and right directions by using a protective net structure;
A generator for generating electricity efficiently and stably in accordance with the protection network structure by using algae under the sea;
A power supply for supplying power to each node of the node and storing surplus power in a storage battery;
A posture detector for detecting postures and moving positions of the nodes and sending them to a control center for quick calibration and update of positions;
A driver for correcting the posture of the base by the posture detector and the CPU by itself;
A base for fixing each part of the node and allowing height and inclination adjustment;
A protection net for realizing the structure of the mosquito net and protecting each part of the generator, the sensor, the control device, the detonator, the posture control and the communication device;
A locking fixture for length extension along the depth of the rock and a rock anchor for installation in a rock area;
Remote installation equipment that enables the installation of nodes remotely from the mothership;
Inland submarine boundary method and system. Mines;
An electric primer for installing a nichrome wire in the gunpowder to detonate the mine by applying power;
A driving device for amplifying electric power at an intensity capable of receiving a control signal and operating an electric primer;
A control device that decodes the signal received from the communication device, sends a detonation signal to the drive device, and sends the submarine detection signal received from the detection sensor into a digital signal and sends the signal to the communication device;
A communication device for receiving an ultrasonic signal from an ultrasonic vibrator, extracting a digital signal and sending the digital signal to a control device, and converting the digital data received from the control device into an ultrasonic wave and sending the digital data to an ultrasonic vibrator;
An ultrasonic vibrator;
A detection sensor;
A power supply unit for converting and supplying power generated by the self-generator to an appropriate voltage for each unit and for charging extra electricity;
Connecting a remote blasting device to a node of the submarine boundary device to add a blow function to the submarine boundary device;
Or implementing a separate node consisting of the respective parts to implement an independent ultrasonic remote blasting network and apparatus.

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