CN111122985A - Autonomous underwater electromagnetic signal measuring device and measuring method - Google Patents
Autonomous underwater electromagnetic signal measuring device and measuring method Download PDFInfo
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- CN111122985A CN111122985A CN201911313312.7A CN201911313312A CN111122985A CN 111122985 A CN111122985 A CN 111122985A CN 201911313312 A CN201911313312 A CN 201911313312A CN 111122985 A CN111122985 A CN 111122985A
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- measurement
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- autonomous navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/08—Measuring electromagnetic field characteristics
- G01R29/0864—Measuring electromagnetic field characteristics characterised by constructional or functional features
- G01R29/0871—Complete apparatus or systems; circuits, e.g. receivers or amplifiers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
Abstract
The invention discloses an autonomous underwater electromagnetic signal measuring device and a measuring method, wherein the autonomous underwater electromagnetic signal measuring device comprises the following steps: the intelligent ship comprises an autonomous navigation ship and a measurement and control terminal, wherein a communication antenna is installed on a deck of the autonomous navigation ship, a solar cell panel is laid on the deck of the autonomous navigation ship, a moon pool communicated with the outside of a ship bottom is arranged on a ship body, a winch wound with an armored cable is installed in the moon pool, an electromagnetic sensor is hung on the armored cable, and a controller is installed in a cabin and is electrically connected with the solar cell panel through a power management module. The measuring device disclosed by the invention has an autonomous navigation function, so that the device can be autonomously transferred to the next measuring water area without recovery or dragging during transfer and only by sending an instruction to the autonomous navigation ship.
Description
Technical Field
The invention belongs to the field of underwater detection, and particularly relates to an autonomous underwater electromagnetic environment noise and electromagnetic signal measuring device and method in the field.
Background
At present, underwater electromagnetic signal measuring equipment and measuring methods can be divided into two categories, one category is a bottom-sitting type device provided with electrodes and magnetic rods, and the using method is distributed putting and periodic recovery; the other type is a device that a submerged buoy is tied under the buoy and is towed to a measuring point by a measuring ship or is carried to the measuring point and thrown, and then fixed-point measurement is carried out.
The patent application 200610080789.1 discloses a submarine plane wave electromagnetic field detecting device and a measuring method, wherein the device is a marine submerged buoy and comprises a buoyancy component, a lifting component, a voice control release component, a gravity traction component, a safety protection component, a signal detection component, a data acquisition component and a mechanical fixing component. The use mode of the devices is bottom-sitting measurement, one-time measurement activity requires one-time putting and recovery, and all measurement data can be obtained after recovery.
Such a submerged buoy device has the following disadvantages: the device can only measure one receiving point once when the device works at the bottom, and needs to be distributed with a plurality of devices or repeatedly recovered and put in one device when measuring a large-scale sea area, so that the workload is very large. Each measurement result can be obtained only after recovery, the period is long, and the timeliness is poor; meanwhile, because the subsurface buoy cannot be successfully recovered in a hundred percent, some measurement data can never be obtained. The capacity of the battery placed in the cabin is limited, and when the submerged buoy battery is consumed, the signal measurement work is finished, so that long-term continuous measurement cannot be realized. The working state of the submerged buoy after launching can not be monitored in real time.
A similar patent of the public age is "a device for underwater electromagnetic signal measurement", which comprises four parts: the underwater submerged buoy, the water surface buoy, the measurement and control terminal and the towing device. After the device is towed or carried to a measuring point by a measuring ship, the submerged buoy is tied below the buoy for measurement. The device can transmit the measurement data to the measurement and control terminal in real time and can monitor the state of the submerged buoy after the submerged buoy is launched in real time. However, this device also has several disadvantages: the release is complicated. When the equipment is thrown in, the whole equipment needs to be lifted by a crane and thrown into water, the depth of the throwing ground is required to be at least 5 meters, and the lifting height of the crane is at least 8 meters. This places extremely high demands on both the quay and the work vessel, and in particular, presents great difficulties in finding a suitable work vessel, and many open-sea surveying tasks are forced to be cancelled simply because a suitable work vessel cannot be found. Transition measurement tests are complex. And each transition measurement needs to be carried out by recovering and putting the equipment once by using a ship, and the time and the labor are consumed. The communication distance between the measurement and control terminal and the buoy is only several kilometers, and the remote monitoring cannot be realized.
Disclosure of Invention
The invention aims to solve the technical problem of providing an autonomous underwater electromagnetic signal measuring device with a solar power supply system and autonomous navigation capability and a method for autonomous navigation transition measurement under remote control.
The invention adopts the following technical scheme:
an autonomous underwater electromagnetic signal measuring device, the improvement of which is that: the intelligent ship comprises an autonomous navigation ship and a measurement and control terminal, wherein a communication antenna is installed on a deck of the autonomous navigation ship, a solar cell panel is laid on the deck of the autonomous navigation ship, a moon pool communicated with the outside of a ship bottom is arranged on a ship body, a winch wound with an armored cable is installed in the moon pool, an electromagnetic sensor is hung on the armored cable, a controller is installed in a cabin, the controller is electrically connected with the solar cell panel through a power management module and is electrically connected with the electromagnetic sensor through an electromagnetic signal receiver, the controller is also electrically connected with a high-speed wireless network bridge, the communication antenna and a memory respectively, and the controller can communicate with the measurement and control terminal through the high-speed wireless network bridge.
Further, the communication antenna is a satellite communication antenna.
Further, the moon pool is arranged in the center of the ship body.
Further, the winch is arranged in the middle of the moon pool.
Further, the winch is a small-sized winch.
Further, the memory is a mass storage.
Furthermore, the autonomous navigation ship controller is in short-distance wireless communication with the measurement and control terminal through the high-speed wireless network bridge and is in long-distance satellite communication with the measurement and control terminal through the communication antenna.
Furthermore, the communication mode between the autonomous navigation ship controller and the measurement and control terminal is a response mode.
The improvement of a measuring method using the autonomous underwater electromagnetic signal measuring device is that the method comprises the following steps:
(1) putting: during offshore tests, an autonomous navigation ship is directly launched on a wharf; during the open sea test, firstly, a ship is used for transporting the device to a specified water area and then throwing the autonomous navigation ship, during throwing, the autonomous navigation ship is thrown into the sea by a crane, and the measurement and control terminal remotely controls the autonomous navigation ship to stop navigating after navigating to a preset water area;
(2) measurement and data access:
during measurement operation, the armored cable is lowered by the winch, the electromagnetic sensor is made to sink to an underwater specified depth, and signal measurement is started;
the measurement operation can be automatically and continuously carried out, and can also be controlled by a measurement and control terminal, all original measurement data are stored in a memory in a cabin, and the storage content of the memory comprises the state parameter information of the autonomous navigation ship besides the original measurement data of the electromagnetic signals; a small amount of data which is urgently needed can be read by the measurement and control terminal through short-distance wireless communication or satellite communication, and a large amount of complete data is read by the short-distance wireless communication after being recovered by the device;
(3) and (3) recovering:
during recovery, the measurement and control terminal sends a recovery instruction, the winch is used for rewinding the armored cable to enable the underwater electromagnetic sensor to float upwards into the moon pool, the autonomous navigation ship approaches to a ship or a wharf according to the instruction, and finally the crane is hoisted back.
The invention has the beneficial effects that:
the measuring device and the measuring method disclosed by the invention have the following beneficial effects:
(1) the transition is convenient. Due to the autonomous navigation function, when the platform is transferred, the platform can be transferred to the next measurement water area autonomously only by sending an instruction to the autonomous navigation ship without recovery or dragging.
(2) Is convenient for throwing. The electromagnetic signal receiver and other electrical equipment are arranged in the cabin, the small winch and the electromagnetic sensor are arranged in the moon pool of the autonomous navigation ship, the overall height of the equipment is greatly reduced, and the height requirement of a suspension arm for putting in the crane is reduced; meanwhile, due to the characteristic of the tumbler, the tumbler does not need to be kept vertical all the time in the throwing process, so that the requirement on the operation ship is greatly reduced, and the throwing process is simpler.
(3) The satellite communication function is provided, and the communication with the measurement and control terminal is not limited by position. And the state of the equipment can be mastered in real time, and the situations of invalid data and even working without starting up are avoided.
(4) The timeliness is strong, and the measurement data needing emergency processing can be obtained through short-distance wireless communication without time-consuming recovery work.
(5) The large-area solar cell panel meets the power supply requirement in long-term observation.
Drawings
FIG. 1 is a schematic diagram of the composition of the measuring device of the present invention;
FIG. 2 is a block diagram of the electrical components of the measuring device of the present invention;
FIG. 3a is a block diagram of the mechanical mechanism of the autonomous navigation vessel in the measuring device of the present invention in the release and recovery states;
fig. 3b is a block diagram of the mechanical mechanism of the autonomous navigation vessel in the measuring device of the present invention under the operation state.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and 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.
The embodiment 1 discloses an autonomous underwater electromagnetic signal measuring device, which comprises an autonomous navigation ship and a measurement and control terminal, wherein a communication antenna 5 is installed on a deck of the autonomous navigation ship, a solar cell panel 6 is laid on the deck, as shown in fig. 3a, a moon pool 2 communicated with the outside of a ship bottom is arranged on a ship body 1, a winch 3 wound with an armored cable is installed in the moon pool, an electromagnetic sensor 4 is hung on the armored cable, as shown in fig. 2, a controller is installed in a cabin, the controller is electrically connected with the solar cell panel through a power management module and is electrically connected with the electromagnetic sensor through an electromagnetic signal receiver, and the controller is also electrically connected with a high-speed wireless bridge, a communication antenna and a memory respectively and is communicated with the measurement and control terminal through the high-speed wireless bridge or the communication antenna.
In this embodiment, the communication antenna is a satellite communication antenna. The moon pool is arranged in the center of the ship body. The winch is arranged in the middle of the moon pool. The winch is a small-sized winch. The memory is a mass storage. The autonomous navigation ship controller is in close-range wireless communication with the measurement and control terminal through the high-speed wireless network bridge and is in remote satellite communication with the measurement and control terminal through the communication antenna. The communication mode between the autonomous navigation ship controller and the measurement and control terminal is a response mode. The autonomous navigation ship selects a communication mode according to the instruction of the measurement and control terminal, and the measurement and control terminal selects a proper communication mode according to the relative position condition and the communication data volume. When the distance is long and high-speed short-distance wireless communication cannot be carried out, namely satellite communication is carried out, the measurement and control terminal only inquires about the situation of some position information, equipment state information and the like of the autonomous navigation ship.
The autonomous navigation ship and the measurement and control terminal respectively work in water and on a shore ship and communicate with each other through a wireless network bridge and a satellite. The autonomous navigation ship receives an instruction of the measurement and control terminal, and performs transition navigation or floating operation according to the instruction, and the functions of collecting, storing and transmitting electromagnetic signals, storing and transmitting equipment state parameters and the like are completed during floating operation; the measurement and control terminal is mainly used for realizing remote monitoring, positioning, control and measurement data receiving of the working state of the autonomous navigation ship. The autonomous navigation ship not only serves as a mooring floating body during measurement operation, but also has autonomous navigation capacity, and can start the next section of measurement operation after autonomously navigating to a preset water area when the transition is required to be completed by one-time measurement according to the instruction of the measurement and control terminal. The autonomous sailing boat is a ship in appearance, has a lower center of gravity and has the characteristic of a tumbler in water.
The embodiment also discloses a measuring method, which uses the autonomous underwater electromagnetic signal measuring device, and comprises the following steps:
(1) putting: during offshore tests, an autonomous navigation ship is directly launched on a wharf; during the open sea test, firstly, a ship is used for transporting the device to a specified water area and then throwing the autonomous navigation ship, during throwing, the autonomous navigation ship is thrown into the sea by a crane, and the measurement and control terminal remotely controls the autonomous navigation ship to stop navigating after navigating to a preset water area;
(2) measurement and data access:
as shown in fig. 3b, during the measurement operation, the armored cable is lowered by the winch, so that the electromagnetic sensor is sunk to a specified depth under water, and the signal measurement is started;
the measurement operation can be automatically and continuously carried out, and can also be controlled by a measurement and control terminal, all original measurement data are stored in a memory in a cabin, and the storage content of the memory comprises the state parameter information of the autonomous navigation ship besides the original measurement data of the electromagnetic signals; a small amount of data which is urgently needed can be read by the measurement and control terminal through short-distance wireless communication or satellite communication, and a large amount of complete data is read by the short-distance wireless communication after being recovered by the device;
(3) and (3) recovering:
during recovery, the measurement and control terminal sends a recovery instruction, as shown in fig. 3a, the armored cable is rewound by a winch to enable the underwater electromagnetic sensor to float up to the moon pool, the autonomous navigation ship approaches to the ship or the wharf according to the instruction, and finally the crane is hoisted back.
Claims (9)
1. An autonomous underwater electromagnetic signal measuring device is characterized in that: the intelligent ship comprises an autonomous navigation ship and a measurement and control terminal, wherein a communication antenna is installed on a deck of the autonomous navigation ship, a solar cell panel is laid on the deck of the autonomous navigation ship, a moon pool communicated with the outside of a ship bottom is arranged on a ship body, a winch wound with an armored cable is installed in the moon pool, an electromagnetic sensor is hung on the armored cable, a controller is installed in a cabin, the controller is electrically connected with the solar cell panel through a power management module and is electrically connected with the electromagnetic sensor through an electromagnetic signal receiver, the controller is also electrically connected with a high-speed wireless network bridge, the communication antenna and a memory respectively, and the controller can communicate with the measurement and control terminal through the high-speed wireless network bridge.
2. The autonomous underwater electromagnetic signal measuring device of claim 1, wherein: the communication antenna is a satellite communication antenna.
3. The autonomous underwater electromagnetic signal measuring device of claim 1, wherein: the moon pool is arranged in the center of the ship body.
4. The autonomous underwater electromagnetic signal measuring device of claim 1, wherein: the winch is arranged in the middle of the moon pool.
5. The autonomous underwater electromagnetic signal measuring device of claim 1, wherein: the winch is a small-sized winch.
6. The autonomous underwater electromagnetic signal measuring device of claim 1, wherein: the memory is a mass storage.
7. The autonomous underwater electromagnetic signal measuring device of claim 1, wherein: the autonomous navigation ship controller is in close-range wireless communication with the measurement and control terminal through the high-speed wireless network bridge and is in remote satellite communication with the measurement and control terminal through the communication antenna.
8. The autonomous underwater electromagnetic signal measuring device of claim 1, wherein: the communication mode between the autonomous navigation ship controller and the measurement and control terminal is a response mode.
9. A measuring method using the autonomous underwater electromagnetic signal measuring apparatus of claim 1, comprising the steps of:
(1) putting: during offshore tests, an autonomous navigation ship is directly launched on a wharf; during the open sea test, firstly, a ship is used for transporting the device to a specified water area and then throwing the autonomous navigation ship, during throwing, the autonomous navigation ship is thrown into the sea by a crane, and the measurement and control terminal remotely controls the autonomous navigation ship to stop navigating after navigating to a preset water area;
(2) measurement and data access:
during measurement operation, the armored cable is lowered by the winch, the electromagnetic sensor is made to sink to an underwater specified depth, and signal measurement is started;
the measurement operation can be automatically and continuously carried out, and can also be controlled by a measurement and control terminal, all original measurement data are stored in a memory in a cabin, and the storage content of the memory comprises the state parameter information of the autonomous navigation ship besides the original measurement data of the electromagnetic signals; a small amount of data which is urgently needed can be read by the measurement and control terminal through short-distance wireless communication or satellite communication, and a large amount of complete data is read by the short-distance wireless communication after being recovered by the device;
(3) and (3) recovering:
during recovery, the measurement and control terminal sends a recovery instruction, the winch is used for rewinding the armored cable to enable the underwater electromagnetic sensor to float upwards into the moon pool, the autonomous navigation ship approaches to a ship or a wharf according to the instruction, and finally the crane is hoisted back.
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| CN201911313312.7A CN111122985A (en) | 2019-12-19 | 2019-12-19 | Autonomous underwater electromagnetic signal measuring device and measuring method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112147587A (en) * | 2020-09-28 | 2020-12-29 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | Radar beam azimuth center offshore calibration method |
| CN112394419A (en) * | 2020-12-10 | 2021-02-23 | 中国人民解放军海军工程大学 | Experimental device for initiative electromagnetic detection signal processing under water |
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