CN111071423A - Acoustic observation type underwater vehicle - Google Patents
Acoustic observation type underwater vehicle Download PDFInfo
- Publication number
- CN111071423A CN111071423A CN201911229719.1A CN201911229719A CN111071423A CN 111071423 A CN111071423 A CN 111071423A CN 201911229719 A CN201911229719 A CN 201911229719A CN 111071423 A CN111071423 A CN 111071423A
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- China
- Prior art keywords
- underwater vehicle
- acoustic
- unit
- hydrophone
- acoustic signal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
Abstract
The invention discloses an acoustic observation type underwater vehicle, which consists of an acoustic measurement system and an underwater vehicle, wherein the acoustic measurement system comprises an acoustic signal processing unit and an acoustic signal acquisition unit; the underwater vehicle comprises a pressure-resistant cabin, a buoyancy driving unit, an attitude adjusting unit, an energy unit, a control and storage unit and a communication unit, wherein an acoustic signal processing unit is placed in the cabin of the underwater vehicle, an acoustic signal acquisition unit consists of a hydrophone, a spring, a hydrophone fixing frame and a connecting rod, one end of the connecting rod is used for being connected with the tail of the underwater vehicle, the other end of the connecting rod is connected with the hydrophone fixing frame, and the hydrophone is fixedly connected in the hydrophone fixing frame through the spring.
Description
Technical Field
The invention belongs to the field of marine hydrological environment observation and marine background sound field detection, and particularly relates to an acoustic observation type underwater vehicle for measuring a marine background sound field.
Background
The marine environment background sound field is marine environment noise, and a plurality of marine environment parameters can be obtained through inversion; and the interference of the detection or measurement signal limits the working performance of the sonar system. The method has very important significance in researching the contents of acquisition and analysis of marine environment noise, modeling of a noise field, inversion of marine environment parameters and the like. The time-space characteristics of the marine environmental noise are very complex, and the results obtained by measuring the underwater noise in different sea areas and different depths at different times and different sea conditions are different, so that the characteristics of the marine environmental noise, such as the time domain, the frequency domain, the space domain and the like, can be analyzed only by measuring the marine environmental noise for a long time in a large range.
The traditional marine environmental noise observation means has the following three types: a survey vessel based survey method; measuring methods based on buoys and submerged buoys; a shore-based sonar-based measurement method. To continuously observe the noise of marine environment for a long time and in a wide range, it is required to effectively control the volume, weight, power consumption, self-noise, and the like of the detection apparatus. An Underwater Glider (AUG) is a novel underwater vehicle, is a novel sensor carrying platform, can be adjusted by means of buoyancy of the AUG, and can complete floating and submerging motions in water; the method has the characteristics of long time sequence, large range, low power consumption, high concealment and the like. Compared with the traditional observation means, the underwater glider carrying the acoustic measurement system has obvious advantages in the application of measuring the noise of the marine environment. Compared with the traditional observation mode, the underwater vehicle has the advantages of strong maneuverability and the like, so that the design of the acoustic observation type underwater vehicle has important significance.
Disclosure of Invention
The invention aims to solve the current situation that the observation of an ocean background sound field can not meet the long time sequence and the large-range measurement at present, and integrates an acoustic measurement system and an underwater glider based on the advantages of the long time sequence, the large range, the low power consumption, the bottom noise, the high concealment and the like of the underwater glider, so that the acoustic observation type underwater vehicle is designed, and the measurement capability of the ocean background noise can be improved to the maximum extent.
The purpose of the invention is realized by the following technical scheme:
an acoustic observation type underwater vehicle comprises an acoustic measurement system and an underwater vehicle, wherein the acoustic measurement system comprises an acoustic signal processing unit and an acoustic signal acquisition unit; the underwater vehicle comprises a pressure-resistant cabin, a buoyancy driving unit, an attitude adjusting unit, an energy unit, a control and storage unit and a communication unit, wherein an acoustic signal processing unit is placed in the cabin of the underwater vehicle, an acoustic signal acquisition unit consists of a hydrophone, a spring, a hydrophone fixing frame and a connecting rod, one end of the connecting rod is used for being connected with the tail of the underwater vehicle, the other end of the connecting rod is connected with the hydrophone fixing frame, and the hydrophone is fixedly connected in the hydrophone fixing frame through the spring.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
1. the invention can realize long time sequence and large-scale measurement of the ocean background sound field;
2. the invention records the measured acoustic data in a control system inside the underwater vehicle in real time, and transmits the acoustic data back to the shore base through a satellite network, thereby having the remote online monitoring capability.
3. The hydrophone is arranged at the tail part of the underwater vehicle, so that compared with other installation positions, the motion resistance of the underwater vehicle is greatly reduced, the pitching adjustment capability and the course control capability of the underwater vehicle are improved, and the motion performance of the system is further improved.
4. According to the invention, the hydrophone is connected with the underwater vehicle through the damping device, the damping device is composed of the fixing frame and the spring, the vibration of the platform can be reduced and transmitted to the hydrophone, and the measurement effect on the ocean background sound field is improved.
5. The marine acoustic measurement system and the underwater glider can be separated, so that the underwater glider can be used for multiple purposes;
6. the underwater vehicle can monitor the acoustic measurement system in real time, and when the ocean background sound field measurement system breaks down, the underwater vehicle can immediately terminate the observation task.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic mechanism diagram of the acoustic signal collection unit.
FIG. 3 is a schematic diagram of the hydrophone structure.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to the attached figure 1, the acoustic observation type underwater vehicle consists of an underwater vehicle I and an acoustic measurement system II; the acoustic measurement system comprises an acoustic signal processing unit 5 and an acoustic signal acquisition unit 7, the acoustic signal acquisition unit 7 consists of a hydrophone 9 and a hydrophone damping device, and the hydrophone damping device comprises a spring 10, a hydrophone fixing frame 11 and a connecting rod 12, as shown in figure 2. The damping device of the design can better reduce the vibration of the platform and transmit the vibration to the hydrophone, and improves the measurement effect on the ocean background sound field. The underwater vehicle consists of a pressure-resistant cabin 1, a buoyancy driving unit 2, an attitude adjusting unit 4, an energy unit 3, a control and storage unit 6 and a communication unit 8.
According to the acoustic observation type underwater vehicle, the acoustic signal acquisition unit 7 is arranged at the tail part of the underwater vehicle, the stability and the economy of the underwater vehicle are effectively improved through hydrodynamic optimization, and meanwhile, compared with other carrying modes, the carrying mode can enable hydrodynamic parameters of the underwater vehicle to be optimal, can reduce sliding resistance and enhance stability of the underwater vehicle, can enable the underwater vehicle to keep better course control capability and pitching adjustment capability, and can enable the underwater vehicle to well keep a navigation attitude and finish a preset attitude. The acoustic signal processing unit 5 is arranged in the cabin of the underwater vehicle and can be mutually communicated with a control system of the underwater vehicle, the acoustic signal processing unit transmits processed acoustic signals to the control system of the underwater vehicle, namely the control and storage unit 6, and then the processed acoustic signals are transmitted back to a shore-based control platform through a satellite, so that the remote online observation capability is realized.
The hydrophone structure is shown in fig. 3, the hydrophone and the underwater vehicle are connected through the damping device in the embodiment, the damping device is shown in fig. 2, the damping device is composed of a fixing frame and a spring, vibration of the vehicle can be reduced and transmitted to the hydrophone, and the measurement effect of an ocean background sound field is improved.
In the using process, firstly, parameters such as working depth, pitch angle and the like are set by an underwater vehicle, then the underwater vehicle is used for electrifying an acoustic measurement system (providing power supply), whether the state of the underwater vehicle is normal or not is detected, and the underwater vehicle can be deployed after the state is normal; in the observation process, the underwater vehicle controls the buoyancy driving unit and the attitude adjusting unit to reach preset control parameters through the control unit and the storage unit, and meanwhile, the acoustic measurement system monitors an ocean background sound field in real time and transmits acoustic data to the control and storage unit of the underwater vehicle in real time, so that reliable data storage is realized; when the acoustic measurement system breaks down, the underwater vehicle can immediately terminate the measurement task and float out of the water surface to wait for recovery.
The underwater vehicle and the acoustic measurement system can be separated, and the separated underwater vehicle and the acoustic measurement system can be used independently, so that the underwater vehicle can carry other types of sensors to complete other tasks of marine environment monitoring and seabed resource exploration, and the effect of one machine with multiple purposes is achieved.
The present invention is not limited to the above-described embodiments. The foregoing description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the above specific embodiments are merely illustrative and not restrictive. Those skilled in the art can make many changes and modifications to the invention without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (1)
1. An acoustic observation type underwater vehicle is characterized by comprising an acoustic measurement system and the underwater vehicle, wherein the acoustic measurement system comprises an acoustic signal processing unit and an acoustic signal acquisition unit; the underwater vehicle comprises a pressure-resistant cabin, a buoyancy driving unit, an attitude adjusting unit, an energy unit, a control and storage unit and a communication unit, wherein an acoustic signal processing unit is placed in the cabin of the underwater vehicle, an acoustic signal acquisition unit consists of a hydrophone, a spring, a hydrophone fixing frame and a connecting rod, one end of the connecting rod is used for being connected with the tail of the underwater vehicle, the other end of the connecting rod is connected with the hydrophone fixing frame, and the hydrophone is fixedly connected in the hydrophone fixing frame through the spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911229719.1A CN111071423A (en) | 2019-12-04 | 2019-12-04 | Acoustic observation type underwater vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911229719.1A CN111071423A (en) | 2019-12-04 | 2019-12-04 | Acoustic observation type underwater vehicle |
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| Publication Number | Publication Date |
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| CN111071423A true CN111071423A (en) | 2020-04-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911229719.1A Pending CN111071423A (en) | 2019-12-04 | 2019-12-04 | Acoustic observation type underwater vehicle |
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| CN (1) | CN111071423A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112373658A (en) * | 2020-10-13 | 2021-02-19 | 汕头大学 | Vibration damper, hydrophone and underwater vehicle |
| CN113148073A (en) * | 2021-03-25 | 2021-07-23 | 天津大学 | Acoustic observation autonomous underwater vehicle |
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| CN103616068A (en) * | 2013-12-06 | 2014-03-05 | 海鹰企业集团有限责任公司 | Flexible co-oscillating vector hydrophone suspension device |
| CN103979091A (en) * | 2014-05-28 | 2014-08-13 | 浙江大学 | Unmanned underwater vehicle based on gas jet steering and method thereof |
| CN104401473A (en) * | 2014-09-18 | 2015-03-11 | 中国海洋大学 | Underwater acoustic glider |
| DE202015006625U1 (en) * | 2015-09-18 | 2015-10-29 | Bundesrepublik Deutschland, vertreten durch das Bundesministerium der Verteidigung, vertreten durch das Bundesamt für Ausrüstung, Informationstechnik und Nutzung der Bundeswehr | Seabed sensor device |
| CN109747801A (en) * | 2019-01-25 | 2019-05-14 | 哈尔滨工程大学 | A kind of quaternary cross battle array acoustic testing system for underwater glider |
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2019
- 2019-12-04 CN CN201911229719.1A patent/CN111071423A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101706574A (en) * | 2009-10-30 | 2010-05-12 | 中国科学院声学研究所 | Dual-fin array sonar equipment |
| CN103616068A (en) * | 2013-12-06 | 2014-03-05 | 海鹰企业集团有限责任公司 | Flexible co-oscillating vector hydrophone suspension device |
| CN103979091A (en) * | 2014-05-28 | 2014-08-13 | 浙江大学 | Unmanned underwater vehicle based on gas jet steering and method thereof |
| CN104401473A (en) * | 2014-09-18 | 2015-03-11 | 中国海洋大学 | Underwater acoustic glider |
| DE202015006625U1 (en) * | 2015-09-18 | 2015-10-29 | Bundesrepublik Deutschland, vertreten durch das Bundesministerium der Verteidigung, vertreten durch das Bundesamt für Ausrüstung, Informationstechnik und Nutzung der Bundeswehr | Seabed sensor device |
| CN109747801A (en) * | 2019-01-25 | 2019-05-14 | 哈尔滨工程大学 | A kind of quaternary cross battle array acoustic testing system for underwater glider |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112373658A (en) * | 2020-10-13 | 2021-02-19 | 汕头大学 | Vibration damper, hydrophone and underwater vehicle |
| CN112373658B (en) * | 2020-10-13 | 2022-01-04 | 汕头大学 | Vibration damper, hydrophone and underwater vehicle |
| CN113148073A (en) * | 2021-03-25 | 2021-07-23 | 天津大学 | Acoustic observation autonomous underwater vehicle |
| WO2022198705A1 (en) * | 2021-03-25 | 2022-09-29 | 天津大学 | Autonomous underwater vehicle for acoustic observation |
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