CN109270541A - A kind of wireless sonar system and method based on underwater sound communication - Google Patents
A kind of wireless sonar system and method based on underwater sound communication Download PDFInfo
- Publication number
- CN109270541A CN109270541A CN201810954147.2A CN201810954147A CN109270541A CN 109270541 A CN109270541 A CN 109270541A CN 201810954147 A CN201810954147 A CN 201810954147A CN 109270541 A CN109270541 A CN 109270541A
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- China
- Prior art keywords
- underwater
- sonar
- communication set
- acoustic communication
- display
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/66—Sonar tracking systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B11/00—Transmission systems employing sonic, ultrasonic or infrasonic waves
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
- H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
Abstract
The wireless Sonar system based on underwater sound communication that the present invention relates to a kind of comprising: underwater subsurface buoy, surface floating body module and display and control module (9)；Underwater subsurface buoy is placed in the bottom, and surface floating body module is placed in the water surface, and display is placed in ground bank station with control module (9)；Display sends a command to underwater subsurface buoy by surface floating body module with control module (9), the working condition of the underwater sonar (3) of subsurface buoy under water is installed in any change, underwater sonar data are periodically sent to display and control module (9), and are shown.
Description
Technical field
The invention belongs to underwater sound communications and underwater sonar technical field, and in particular to a kind of wireless sound based on underwater sound communication
System and method.
Background technique
Currently, sonar is a kind of using the underwater propagation characteristic of sound wave, the tasks such as Underwater Navigation, detection, communication are completed
Acoustics electronic equipment；For example, scouting sonar, image sonar, anti-frogman's sonar etc..Since conventional electromagnetic wave, optic communication exist
Underwater attenuation is serious, cannot achieve the information transmission of long range under water.Therefore, underwater sonar data are not available traditional lead to
Letter mode, such as radio, optic communication realize the real time communication and transmission of underwater sonar data or working condition.
Currently, the operating mode of traditional underwater sonar: carrying out presetting operating mode etc. to it before cloth is put into water
Configuration, after cloth is put into water, preset operating mode be it is not revisable, underwater sonar is according to presetting after laying
Operating mode work under water and acquire data, after acquiring the data, be stored in internal reservoir.Existing sonar system
System will obtain data there are mainly two types of the mode of the underwater sonar: one is read number after carrying out salvaging recycling to sonar
According to still, the real-time property that this mode obtains is poor, the operating mode of underwater subsurface buoy can not be changed, when sonar is laid on
It goes to sea when far-reaching sea the higher cost of recycling.Another way is by the way of having cable, by communication cable by sonar data
Water surface float is uploaded to, then data are transferred back to ground experiment room by the satellite communication module by installing on water surface float；But
The subsurface communication cable cost that this mode uses is high, can not change the operating mode of underwater subsurface buoy, and it is complex to lay process,
Reliability is poor after long-term work encounters severe sea condition, more difficult in practical applications.
Summary of the invention
It is an object of the present invention to solve existing Sonar system, there are drawbacks described above, and the invention proposes a kind of bases
In the wireless Sonar system of underwater sound communication, underwater sound communication is the unique effective hand for the underwater long-distance radio communication being currently known
Section, the system can effectively solve the problem that it is high for long haul communication cable cost underwater in existing Sonar system, lay difficulty, can
The disadvantages of poor by property.The wireless Sonar system utilizes water sound communication technique, realizes between underwater sonar and surface floating body
Wireless communication instructs subsurface buoy under water supply by emission control, arbitrarily changes the operating mode of underwater subsurface buoy；Surface floating body passes through nothing
Line radio station or satellite communication are communicated with bank station control centre, are obtained when realizing the control sum number of underwater sonar factually.It is described
Wireless Sonar system has the characteristics that lay simple mode, high flexibility ratio, high reliability, can be applied to the remote of various underwater sonars
Process control sum number factually when obtain.
To achieve the goals above, the wireless Sonar system based on underwater sound communication that the present invention provides a kind of, system tool
The features such as laying simple mode, high flexibility ratio, high reliability, can be applied to the long-range control sum number of various underwater sonars factually
When obtain.The wireless Sonar system includes: underwater subsurface buoy, surface floating body module and display and control module；Underwater subsurface buoy is set
In the bottom, surface floating body module is placed in the water surface, and display is placed in ground bank station with control module；Display passes through the water surface with control module
Floating body module sends a command to underwater subsurface buoy, and the working condition of the underwater sonar of subsurface buoy under water is installed in any change, periodically
Underwater sonar data are sent to display and control module, and shown.
One of improvement as above-mentioned count protocol, the underwater subsurface buoy further comprises: gravity anchor, the acoustics release phase,
Underwater sonar, the first underwater acoustic communication set and floating ball；
Gravity anchor is located at the bottom, makes the entire underwater vertical cloth of subsurface buoy be placed on the bottom by the gravity of gravity anchor；Sound
It learns release and is located at the top of gravity anchor, and be attached by watertight cable, the recycling for underwater subsurface buoy；Underwater sonar position
It is connected in the top of acoustic releaser, and by watertight cable, for acquiring and sending underwater sonar data or underwater sonar
Working condition；First underwater acoustic communication set is located at the top of underwater sonar, and is connected by watertight cable, for sending and receiving water
Lower sonar data；Floating ball is located at the top of the first underwater acoustic communication set, and is connected by watertight cable, for providing buoyancy, maintains
The normal attitude of underwater subsurface buoy, and made under water when recycling by being capable of providing enough buoyancy after acoustic releaser jettisoning gravity anchor
Subsurface buoy emerges.
First underwater acoustic communication set receives the control instruction from display with control module, controls underwater sonar, example
Such as, active configuration, the operating mode of underwater subsurface buoy etc. of underwater sonar are controlled；Underwater sonar transmits underwateracoustic by watertight cable
To the first underwater acoustic communication set, the first underwater acoustic communication set receives underwater sonar data or water for data or the working condition of underwater sonar
The working condition of lower sonar, and send it to surface floating body module.Wherein, underwater sonar is powered using battery, according to required
That wants lays duration, installs the battery of different capabilities with meet demand.Wherein, the working condition of the underwater sonar includes: number
Passback and working condition timing return when factually.
One of improvement as above-mentioned count protocol, first underwater acoustic communication set has multiple data-interfaces, for connecting
Multiple underwater sonars are connect, while realizing control and the data acquisition of multiple underwater sonars.First underwater acoustic communication set has group Netcom
Telecommunication function is, it can be achieved that point-to-points, multi-to-multi underwater sound communication.Distance is laid in the same surface floating body when multiple underwater subsurface buoys
Within the scope of the underwater sound communication of module or surface floating body selects wave glider, Autonomous Underwater Vehicle etc. that can navigate by water to set
It is standby, when can be navigated by water within the scope of the underwater sound communication of multiple underwater subsurface buoys, it can be realized by a surface floating body module to multiple water
The instruments control of multiple underwater sonars of installation is put in dive.In addition, the first underwater acoustic communication set, which also has, can be equipped with sound
Learn the function of release；It, can be by the first underwater sound communication when the depth for laying depth and acoustic releaser of underwater sonar is close
Machine and acoustic releaser merge into an equipment, i.e. underwater sound communication release；Underwater sound communication release is connected by watertight cable
Underwater sonar had both been able to achieve underwater sound communication function, can also under water subsurface buoy recycle when, discharge gravity anchor, make underwater subsurface buoy emersion
The water surface is recycled, and the complexity, save the cost, reduction for advantageously reducing underwater subsurface buoy lay difficulty etc..
One of improvement as above-mentioned count protocol, the surface floating body module further comprises: surface floating body, the second water
Sound communication machine and communication submodule；The surface floating body is swum on the water surface, and it is logical that second underwater sound is installed on the surface floating body
Letter machine and communication submodule；
Second underwater acoustic communication set receive the first underwater acoustic communication set send underwater sonar data, with the first underwater acoustic communication set into
The two-way underwater sound communication of row, and underwater sonar data are sent to display and control module by communicating submodule.
One of improvement as above-mentioned count protocol, the surface floating body are wave glider, fix anchoring type buoy, certainly
Floatable buoy or Autonomous Underwater Vehicle (AUV).
One of improvement as above-mentioned count protocol, the communication submodule are radio station or satellite communication apparatus, are used
It is communicated in same display with control module, underwater sonar data is sent to display and control module；Wherein, the satellite is logical
T unit is big-dipper satellite or iridium satellite.Specifically, when the positional distance that underwater subsurface buoy is laid be located at display on the bank station of ground with
When control module is closer, the communication submodule is radio station, using radio station directly be located at it is aobvious on the bank station of ground
Show and communicated with control module, underwater sonar data are sent to display and control module；When the position that underwater subsurface buoy is laid
In off-lying sea, the communication submodule is satellite communication apparatus, such as big-dipper satellite or iridium satellite, by big-dipper satellite or iridium satellite with
Display on the bank station of ground is communicated with control module, and underwater sonar data are sent to display and control module.Institute
Surface floating body is stated to be powered using battery or solar panel.
One of improvement as above-mentioned count protocol, the display further comprise with control module:
Display sub-module, for receiving and showing underwater sonar data；
Control submodule, for being sent to control instruction by the radio station or satellite communication apparatus of communication submodule
Second underwater acoustic communication set, then the first underwater acoustic communication set is sent to by the second underwater acoustic communication set.
One of improvement as above-mentioned count protocol, display can be achieved by remotely control to underwater subsurface buoy with control module
With the long-range control of surface floating body module, for example, modifying the operating mode of underwater subsurface buoy, the underwater sonar active configuration of modification etc..
Specifically, the second underwater acoustic communication set receives the request instruction, and parses to it, and the second underwater acoustic communication set will
Order after parsing is sent to the first underwater acoustic communication set by way of underwater sound communication, and the first underwater acoustic communication set passes through watertight cable
Order after parsing is sent to underwater sonar, underwater sonar data are sent to by the first underwater acoustic communication set by underwater sonar
Two underwater acoustic communication sets, the second underwater acoustic communication set sends it to display and control module, while the second underwater acoustic communication set will be completed
Response is also sent to display and control module together, determines that the request instruction is finished, and realizes to underwater subsurface buoy and the water surface
The long-range control of floating body module.
One of improvement as above-mentioned count protocol, display switch the work of underwater sonar with control module by remotely control
Make state；Wherein, the working condition of the underwater sonar includes: that data return and working condition timing passback in real time.
When the working condition of underwater sonar is switched to data by display and control module to be returned in real time；First underwater sound communication
Owner is dynamic to be sent to the second underwater acoustic communication set for real-time sonar data under water, the second underwater acoustic communication set pass through again radio station or
Real-time underwater sonar data are sent to display and control module by satellite communication apparatus, and display sub-module is according to demand to real-time
Underwater sonar data displayed and saved.In this operating mode, the data of passback have high real-time, in some realities
It is of great significance in the more demanding application of when property.
When the working condition switching of underwater sonar is in working condition timing by display and control module to be returned；Water will be passed through
The current working condition of underwater sonar is sent to the second underwater acoustic communication set by the mode of sound communication, the first underwater acoustic communication set, and second
The current working condition of underwater sonar is sent to display and control module by underwater acoustic communication set.Equally as the second underwater sound communication captain
It, also can be by radio station or satellite communication apparatus by underwater sonar when time does not receive from display with the order of control module
Current working status and position (position can pass through big-dipper satellite or GPS and obtain) be sent to display and control module, it is convenient aobvious
Show and is monitored with working condition of the control module to underwater sonar.
Based on the above-mentioned wireless Sonar system based on underwater sound communication, the present invention provides a kind of nothings based on underwater sound communication
The method of line sonar, this method specifically include:
According to mission requirements, display communicates submodule with control module and asks to the transmission of the second underwater acoustic communication set step 1)
Ask instruction；Wherein, the request instruction is the working condition acquisition request or underwater sonar data acquisition request of underwater sonar；Institute
Underwater sonar data acquisition request is stated to specifically include: the underwater sonar data time section that needs to obtain and underwater sonar data it is big
It is small；
The request instruction is sent to the first underwater acoustic communication set by the second underwater acoustic communication set of step 2)；
The first underwater acoustic communication set of step 3) receives the request instruction, and the underwater sonar data or underwateracoustic that will be obtained
Working condition be sent to the second underwater acoustic communication set；Specifically,
If the working condition of the underwater sonar data or underwater sonar to be obtained is stored in the first underwater acoustic communication set,
First underwater acoustic communication set receives the request instruction, and directly reads the work for the underwater sonar data or underwater sonar to be obtained
Then state is sent to the second underwater acoustic communication set by the first underwater acoustic communication set again；The underwater sonar data or water such as to be obtained
The working condition of lower sonar is stored in underwater sonar, then the first underwater acoustic communication set is wanted by watertight cable to the reading of underwater sonar
The working condition of the underwater sonar data or underwater sonar that obtain, then the second underwater sound communication is sent to by the first underwater acoustic communication set
Machine.
The underwater sonar number that the second underwater acoustic communication set of step 4) passes through radio station again or satellite communication apparatus will obtain
According to or the working condition of underwater sonar be sent to display and control module, underwater sonar data that display sub-module will obtain or
The working condition of underwater sonar is shown on control interface, and is saved, and post-processing is used for.
The present invention has the advantages that
The present invention is based on the wireless Sonar systems of underwater sound communication, can be applied to the remote wireless control and data of underwater sonar
It obtains, realizes the two-way communication of bank station control centre and underwater sonar.Relative to needing to recycle sonar set in the past
Configuration and reading data can be just carried out to sonar, this system remotely can control to sonar and obtain sonar data in real time.This
System is connected since underwater subsurface buoy and surface floating body use water sound communication technique without communication cable, is had and is laid mode letter
List, high reliablity, the advantages that cost is relatively low.This system can be applied to ocean, lake, various underwater sonar sets is remote in river
Process control and data acquisition unattended can work long hours 1 year to several years after laying, for reducing out ship recycling maintenance water
Lower sonar set cost improves data acquisition real-time, remotely monitors underwater sonar equipment state etc. and be of great significance.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of wireless Sonar system based on underwater sound communication of the invention.
Appended drawing reference:
1, gravity anchor 2, acoustic releaser
3, underwater sonar 4, the first underwater acoustic communication set
5, floating ball 6, surface floating body
7, submodule 8, satellite communication apparatus are communicated
9, display and control module 10, the second underwater acoustic communication set
Specific embodiment
Now in conjunction with attached drawing, the invention will be further described.
As shown in Figure 1, the present invention provides a kind of wireless Sonar system based on underwater sound communication, which has the side of laying
The features such as formula is simple, high flexibility ratio, high reliability, acquisition when can be applied to the long-range control sum number of various underwater sonars factually.
The wireless Sonar system includes: underwater subsurface buoy, surface floating body module and display and control module 9；Underwater subsurface buoy is placed in the bottom,
Surface floating body module is placed in the water surface, and display is placed in ground bank station with control module 9；Display passes through surface floating body with control module 9
Module sends a command to underwater subsurface buoy, and the working condition of the underwater sonar 3 of subsurface buoy under water is installed in any change, periodically will
Underwater sonar data are sent to display and control module 9, and are shown.
One of improvement as above-mentioned count protocol, the underwater subsurface buoy further comprises: gravity anchor 1, acoustic releaser
2, underwater sonar 3, the first underwater acoustic communication set 4 and floating ball 5；
Gravity anchor 1 is located at the bottom, makes the entire underwater vertical cloth of subsurface buoy be placed on the bottom by the gravity of gravity anchor 1；
Acoustic releaser 2 is located at the top of gravity anchor 1, and is attached by watertight cable, the recycling for underwater subsurface buoy；Underwateracoustic
3 be located at acoustic releaser 2 top, and by watertight cable connect, for acquire and send underwater sonar data or under water
The working condition of sonar；First underwater acoustic communication set 4 is located at the top of underwater sonar 3, and is connected by watertight cable, for sending
With the underwater sonar data of reception；Floating ball 5 is located at the top of the first underwater acoustic communication set 4, and is connected by watertight cable, for providing
Buoyancy maintains the normal attitude of underwater subsurface buoy, and is capable of providing foot after passing through 2 jettisoning gravity anchor 1 of acoustic releaser in recycling
Enough buoyancy makes underwater subsurface buoy emerge.
First underwater acoustic communication set 4 receives the control instruction from display with control module 9, controls underwater sonar 3,
For example, controlling the active configuration of underwater sonar 3, operating mode of underwater subsurface buoy etc.；Underwater sonar 3 transmits water by watertight cable
To the first underwater acoustic communication set 4, the first underwater acoustic communication set 4 receives underwater sonar number for lower sonar data or the working condition of underwater sonar
According to or underwater sonar working condition, and send it to surface floating body module.Wherein, underwater sonar 3 is powered using battery, root
Duration is laid according to required, the battery of different capabilities is installed with meet demand.Wherein, the working condition of the underwater sonar 3
It include: that data return and working condition timing passback in real time.
One of improvement as above-mentioned count protocol, first underwater acoustic communication set 4 has multiple data-interfaces, for connecting
Multiple underwater sonars are connect, while realizing control and the data acquisition of multiple underwater sonars 3.First underwater acoustic communication set 4 has networking
Communication function is, it can be achieved that point-to-points, multi-to-multi underwater sound communication.Distance is laid in the same water surface floating when multiple underwater subsurface buoys
Within the scope of the underwater sound communication of module or surface floating body 6 selects wave glider, Autonomous Underwater Vehicle etc. that can navigate by water
Equipment when can navigate by water within the scope of the underwater sound communication of multiple underwater subsurface buoys, can be realized by a surface floating body module to multiple
The instruments control for the multiple underwater sonars installed in underwater subsurface buoy.In addition, the first underwater acoustic communication set 4, which also has, to be equipped with
The function of acoustic releaser；It, can be by first underwater sound when the depth for laying depth and acoustic releaser 2 of underwater sonar 3 is close
Communication equipment 4 and acoustic releaser 2 merge into an equipment, i.e. underwater sound communication release；Underwater sound communication release passes through watertight electricity
Cable connects underwater sonar 3, has both been able to achieve underwater sound communication function, can also discharge gravity anchor 1, make underwater when subsurface buoy recycles under water
Subsurface buoy emerges, and is recycled, and the complexity, save the cost, reduction for advantageously reducing underwater subsurface buoy lay difficulty etc..
One of improvement as above-mentioned count protocol, the surface floating body module further comprises: surface floating body 6, second
Underwater acoustic communication set 10 and communication submodule 7；The surface floating body 6 is swum on the water surface, and installs second on the surface floating body 6
Underwater acoustic communication set 10 and communication submodule 7；
Second underwater acoustic communication set 10 receives the underwater sonar data that the first underwater acoustic communication set 4 is sent, with the first underwater sound communication
Machine 4 carries out two-way underwater sound communication, and underwater sonar data are sent to display and control module 9 by communicating submodule 7.
One of improvement as above-mentioned count protocol, the surface floating body 6 be wave glider, fixed anchoring type buoy,
From floatable buoy or Autonomous Underwater Vehicle (AUV).
One of improvement as above-mentioned count protocol, the communication submodule 7 are radio station or satellite communication apparatus, are used
It is communicated in same display with control module 9, underwater sonar data is sent to display and control module 9；Wherein, the satellite
Communication device is big-dipper satellite or iridium satellite.Specifically, when the positional distance that underwater subsurface buoy is laid is located at the display on the bank station of ground
When closer with control module, the communication submodule 7 is radio station, using radio station directly and on the bank station of ground
Display is communicated with control module 9, and underwater sonar data are sent to display and control module 9；It is laid when underwater subsurface buoy
In off-lying sea, the communication submodule 7 is satellite communication apparatus, such as big-dipper satellite or iridium satellite for position, by big-dipper satellite or
Iridium satellite is communicated with the display being located on the bank station of ground with control module 9, and underwater sonar data are sent to display and control
Module 9.Wherein, the surface floating body 6 is powered using battery or solar panel.
One of improvement as above-mentioned count protocol, the display further comprise with control module 9:
Display sub-module, for receiving and showing underwater sonar data；
Control submodule, for being sent to control instruction by the radio station or satellite communication apparatus of communication submodule
Second underwater acoustic communication set, then the first underwater acoustic communication set is sent to by the second underwater acoustic communication set.
One of improvement as above-mentioned count protocol, display can be achieved by remotely control to underwater latent with control module 9
The long-range control of mark and surface floating body module, for example, arbitrarily switching the operating mode of underwater subsurface buoy, arbitrarily controlling underwater sonar work
It configures.
Specifically, the second underwater acoustic communication set 10 receives the request instruction, and parses to it, the second underwater acoustic communication set
Order after parsing is sent to the first underwater acoustic communication set 4 by 10 by way of underwater sound communication, and the first underwater acoustic communication set 4 passes through water
Order after parsing is sent to underwater sonar 3 by cipher telegram cable, and underwater sonar data are passed through the first underwater acoustic communication set by underwater sonar 3
4 are sent to the second underwater acoustic communication set 10, and the second underwater acoustic communication set 10 sends it to display and control module 9, while the second water
Sound communication machine 10 is also sent to display and control module 9 for response is completed together, determines that the request instruction is finished, and realizes
Long-range control to underwater subsurface buoy and surface floating body module.
One of improvement as above-mentioned count protocol, display switch underwater sonar 3 by remotely control with control module 9
Working condition；Wherein, the working condition of the underwater sonar 3 includes: that data return and working condition timing passback in real time.
When the working condition of underwater sonar 3 is switched to data with control module 9 by display to be returned in real time；First underwater sound is logical
Real-time underwater sonar data are sent to the second underwater acoustic communication set 10 by 4 active of letter machine, and the second underwater acoustic communication set 10 passes through nothing again
Real-time underwater sonar data are sent to display and control module 9 by line radio station or satellite communication apparatus, display sub-module according to
Demand displays and saves real-time underwater sonar data.In this operating mode, the data of passback have high real-time
Property, it is of great significance in the higher application of some requirement of real-time.
When the working condition switching of underwater sonar 3 is in working condition timing with control module 9 by display to be returned；It will pass through
The current working condition of underwater sonar is sent to the second underwater acoustic communication set 10 by the mode of underwater sound communication, the first underwater acoustic communication set 4,
The current working condition of underwater sonar is sent to display and control module 9 by the second underwater acoustic communication set 10.Equally when second underwater sound
When communication equipment 10 does not receive the order from display and control module 9 for a long time, it can also be filled by radio station or satellite communication
It sets and the current working status of underwater sonar and position (position can be obtained by big-dipper satellite or GPS) is sent to display and control
Module 9 facilitates display and control module to be monitored the working condition of underwater sonar.
Based on the above-mentioned wireless Sonar system based on underwater sound communication, the present invention provides a kind of nothings based on underwater sound communication
The method of line sonar, this method specifically include:
Step 1) communicates submodule 7 with control module 9 and sends out to the second underwater acoustic communication set 10 according to mission requirements, display
Send request instruction；Wherein, the request instruction is that the working condition acquisition request of underwater sonar or underwater sonar data acquisition are asked
It asks；The underwater sonar data acquisition request specifically includes: the underwater sonar data time section for needing to obtain and underwater sonar number
According to size；
The request instruction is sent to the first underwater acoustic communication set 4 by the second underwater acoustic communication set of step 2) 10；
The first underwater acoustic communication set of step 3) 4 receives the request instruction, and the underwater sonar data or underwater that will be obtained
The working condition of sonar is sent to the second underwater acoustic communication set 10；Specifically,
If the working condition of the underwater sonar data or underwater sonar to be obtained is stored in the first underwater acoustic communication set 4,
Then the first underwater acoustic communication set 4 receives the request instruction, and directly reads the underwater sonar data or underwater sonar to be obtained
Then working condition is sent to the second underwater acoustic communication set 10 by the first underwater acoustic communication set 4 again；The underwater sonar number such as to be obtained
According to or the working condition of underwater sonar be stored in underwater sonar 3, then the first underwater acoustic communication set 4 is by watertight cable to underwateracoustic
The working condition for the underwater sonar data or underwater sonar to be obtained is read, then is sent to the by the first underwater acoustic communication set 4
Two underwater acoustic communication sets 10.
The underwater sonar that the second underwater acoustic communication set of step 4) 10 will be obtained by radio station or satellite communication apparatus again
Data or the working condition of underwater sonar are sent to display and control module 9, the underwater sonar number that display sub-module will obtain
According to or the working condition of underwater sonar be shown on control interface, and saved, for post-processing.
It should be noted last that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting.Although ginseng
It is described the invention in detail according to embodiment, those skilled in the art should understand that, to technical side of the invention
Case is modified or replaced equivalently, and without departure from the spirit and scope of technical solution of the present invention, should all be covered in the present invention
Scope of the claims in.
Claims (8)
1. a kind of wireless Sonar system based on underwater sound communication, characterized in that it comprises: underwater subsurface buoy, surface floating body module
With display and control module (9)；Underwater subsurface buoy is placed in the bottom, and surface floating body module is placed in the water surface, and display is set with control module (9)
In ground bank station；Display sends a command to underwater subsurface buoy by surface floating body module with control module (9), and any change is mounted on
Underwater sonar data are periodically sent to display and control module by the working condition of the underwater sonar (3) of underwater subsurface buoy
(9), it and is shown.
2. system according to claim 1, which is characterized in that the underwater subsurface buoy further comprises: gravity anchor (1), sound
It learns release (2), underwater sonar (3), the first underwater acoustic communication set (4) and floating ball (5)；
Gravity anchor (1) is located at the bottom, and acoustic releaser (2) is located at the top of gravity anchor (2), and is connected by watertight cable
It connects, the recycling for underwater subsurface buoy；Underwater sonar (3) is located at the top of acoustic releaser (2), and is connected by watertight cable,
For acquiring and sending the working condition of underwater sonar data or underwater sonar；First underwater acoustic communication set (4) is located at underwater sonar
(3) top, and connected by watertight cable, for sending and receiving the working condition of underwater sonar data or underwater sonar；
Floating ball (5) is located at the top of the first underwater acoustic communication set (4), and is connected by watertight cable, for providing buoyancy.
3. system according to claim 2, which is characterized in that there are first underwater acoustic communication set (4) multiple data to connect
Mouthful, for connecting multiple underwater sonars, realize point-to-points or multi-to-multi underwater sound communication；
When the depth for laying depth and acoustic releaser (2) of underwater sonar (3) is close, by the first underwater acoustic communication set (4) with
Acoustic releaser (2) merges into underwater sound communication release；Underwater sound communication release connects underwater sonar (3) by watertight cable,
Realize subsurface buoy under underwater sound communication and recycle-water.
4. system according to claim 1, which is characterized in that the surface floating body module further comprises: surface floating body
(6), the second underwater acoustic communication set (10) and communication submodule (7)；The surface floating body (6) swims on the water surface, and the water surface
Second underwater acoustic communication set (10) and communication submodule (7) are installed on floating body (6)；
Second underwater acoustic communication set (10) receives the work of the underwater sonar data that the first underwater acoustic communication set (4) are sent or underwater sonar
State carries out two-way underwater sound communication with the first underwater acoustic communication set (4), and by underwater sonar data or the working condition of underwater sonar
Display and control module (9) are sent to by communicating submodule (7).
5. system according to claim 4, which is characterized in that the surface floating body (6) is wave glider, fixed anchoring
Formula buoy, from floatable buoy or Autonomous Underwater Vehicle.
6. system according to claim 4, which is characterized in that the communication submodule (7) is that radio station or satellite are logical
T unit sends underwater sonar data or the working condition of underwater sonar for being communicated with display with control module (9)
To display and control module (9)；Wherein, the satellite communication apparatus is big-dipper satellite or iridium satellite.
7. system according to claim 1, which is characterized in that the display further comprises with control module (9):
Display sub-module, for receiving and showing the working condition of underwater sonar data or underwater sonar；
Control submodule, for sending a command to the second water by the radio station or satellite communication apparatus of communication submodule (7)
Sound communication machine (10), then the first underwater acoustic communication set (4) are sent to by the second underwater acoustic communication set (10).
8. a kind of method based on the wireless Sonar system based on underwater sound communication any in claim 1-7, feature
It is, this method specifically includes:
Step 1) display communicates submodule (7) with control module (9) and sends request instruction to the second underwater acoustic communication set (10)；
Wherein, the request instruction is the working condition acquisition request or underwater sonar data acquisition request of underwater sonar；It is described underwater
Sonar data acquisition request specifically includes: the size of the underwater sonar data time section and underwater sonar data that need to obtain；
The request instruction is sent to the first underwater acoustic communication set (4) by the second underwater acoustic communication set of step 2) (10)；
The first underwater acoustic communication set of step 3) (4) receives the request instruction, and the underwater sonar data or underwateracoustic that will be obtained
Working condition be sent to the second underwater acoustic communication set (10)；Specifically,
If the working condition of the underwater sonar data or underwater sonar to be obtained is stored in the first underwater acoustic communication set (4),
First underwater acoustic communication set (4) receives the request instruction, and directly reads the underwater sonar data or underwater sonar to be obtained
Then working condition is sent to the second underwater acoustic communication set (10) by the first underwater acoustic communication set (4) again；The underwateracoustic such as to be obtained
Data or the working condition of underwater sonar are stored in underwater sonar (3), then the first underwater acoustic communication set (4) passes through watertight cable
The working condition for the underwater sonar data or underwater sonar to be obtained is read to underwater sonar (3), then passes through the first underwater sound communication
Machine (4) is sent to the second underwater acoustic communication set (10)；
The underwater sonar number that the second underwater acoustic communication set of step 4) (10) will be obtained by radio station or satellite communication apparatus again
According to or the working condition of underwater sonar be sent to display and control module (9), the underwater sonar number that display sub-module will obtain
According to or the working condition of underwater sonar be shown in and control on interface.
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| CN110768713B (en) * | 2019-11-21 | 2020-08-04 | 中国科学院声学研究所 | A disposable data passback device for deep sea submerged buoy |
| CN111301611A (en) * | 2020-02-20 | 2020-06-19 | 中国科学院水生生物研究所 | Construction method of whale sonar monitor fixed platform based on floating body structure |
| CN111551941A (en) * | 2020-06-23 | 2020-08-18 | 启东东江启航电子科技有限公司 | Distributed sonar cooperative networking method |
| CN111551941B (en) * | 2020-06-23 | 2022-04-19 | 启东东江启航电子科技有限公司 | Distributed sonar cooperative networking method |
| CN112332952A (en) * | 2020-10-09 | 2021-02-05 | 中国科学院沈阳自动化研究所 | Underwater acoustic communication method for underwater glider and submerged buoy |
| CN112332952B (en) * | 2020-10-09 | 2022-03-22 | 中国科学院沈阳自动化研究所 | Underwater acoustic communication method for underwater glider and submerged buoy |
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