CN113311503B - Underwater acousto-magnetic and electric integrated target detection device, method and application - Google Patents
Underwater acousto-magnetic and electric integrated target detection device, method and application Download PDFInfo
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- CN113311503B CN113311503B CN202110584991.2A CN202110584991A CN113311503B CN 113311503 B CN113311503 B CN 113311503B CN 202110584991 A CN202110584991 A CN 202110584991A CN 113311503 B CN113311503 B CN 113311503B
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V11/00—Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
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Abstract
The invention belongs to the technical field of underwater target detection, and discloses an underwater acousto-magnetic electric integrated target detection device, an underwater acousto-magnetic electric integrated target detection method and application, wherein a watertight electronic cabin is arranged on the upper side of a base seat in the underwater acousto-magnetic electric integrated target detection device, and an underwater physical field data acquisition and processing instrument is arranged in the watertight electronic cabin; the upper right side of the watertight electronic cabin is provided with a pressure sensor, the middle position of the upper side of the watertight electronic cabin is provided with an electric field receiver, and the upper side of the electric field receiver is provided with an acousto-magnetic composite receiver. The detection socket is installed to watertight electronic cabin upside, and watertight electronic cabin left and right sides is provided with first little buoy of retrieving and second little buoy of retrieving respectively, and little buoy of retrieving is retrieved with retrieving the rope respectively to first little buoy of retrieving and second. The invention can meet the requirements of people for reliably detecting the underwater target in increasingly common environments with low signal-to-noise ratio, multiple interference and strong countermeasure.
Description
Technical Field
The invention belongs to the technical field of underwater target detection, and particularly relates to an underwater acousto-optic-electric integrated target detection device, an underwater acousto-optic-electric integrated target detection method and application.
Background
Currently, passive detection of underwater objects mainly utilizes various physical fields generated by the objects, such as sound fields, magnetic fields, electric fields, and the like. However, under the conditions of low signal-to-noise ratio, multiple interferences and strong countermeasure, the traditional single physical field detection means have the defects of difficult reliable identification, easy false alarm caused by the environmental interference, easy artificial countermeasure failure and the like. Especially, in recent years, along with the improvement of stealth performance of various targets, the physical field strength of sound, magnetism, electricity and the like of the targets is lower and lower, and detection is more and more difficult; meanwhile, the underwater countermeasure means such as artificial simulation interference is more abundant, and the characteristics of a single physical field are easier to be simulated artificially, so that the defects of the traditional single physical field detection means are more prominent.
The sound, magnetism and electric field of the target are different in generation sources and mechanisms and exist simultaneously in a certain space-time range, for example, the main sources of sound are vibration radiation noise of the target, rotation noise of a propeller and the like, the main sources of magnetism are magnetization of a ferromagnetic structure of the target in a geomagnetic field and the like, and the main sources of electricity are electrochemical corrosion among different materials of the target and the like. For the same target, more information than single sound/single magnetic/single electric can be obtained by observing the sound, magnetic and electric field signal characteristics of the same target, and the information is homologous, can be mutually verified and mutually complemented, and is beneficial to improving the detection probability of the target. The environmental interference often does not have the same time and space, so that the targets and the interference are easier to distinguish, and false alarms are less likely to occur. In addition, because the generation mechanisms of the sound, the magnetism and the electric field of the target are different, the sound, the magnetism and the electric field of the target are difficult to be eliminated artificially, and the detection is more difficult to be interfered by artificially simulating the sound, the magnetism and the electric field characteristics of the target, even the detection is limited by space, energy, cost and the like and cannot be realized synchronously, so that the sound, the magnetism and the electric integrated detection of the target has greater advantages in the aspects of preventing the influence of means such as artificial elimination, artificial simulation interference and the like. In a word, the underwater acousto-magnetic electric integrated target detection device simultaneously utilizes the sound field, the magnetic field and the electric field information of the target, not an isolated physical field, but three fields are regarded as a whole, the underwater target is reliably detected by utilizing the coupling and complementarity of the characteristics of multiple fields, and the underwater acousto-magnetic integrated target detection device has the characteristics of low false alarm, low omission, high marine environment interference resistance or artificial simulation interference resistance and the like.
Through the above analysis, the problems and defects existing in the prior art are as follows: existing underwater target detection devices use only one physical field, such as acoustic or magnetic or electrical detection. The single physical field detection information is limited (such as the information of only one curve in fig. 4), and has the defects of difficult reliable identification, easy environmental interference false alarm, easy artificial countermeasures against failure and the like, so that the requirement of people on reliable detection of underwater targets in increasingly common low signal-to-noise ratio, multi-interference and strong countermeasures environments cannot be met.
The difficulty of solving the problems and the defects is as follows: the single physical field detection information is limited (such as the information of only one curve in fig. 4), the detection information is easy to miss under the condition of low signal to noise ratio, the false alarm is easy to occur under the condition of more environmental interference, and the single physical field is easy to be artificially simulated to corresponding characteristics, so that the anti-failure is caused.
The meaning of solving the problems and the defects is as follows: the invention can simultaneously utilize the information (such as 3 curves in fig. 4) of a plurality of physical fields of the target, such as sound, magnetism, electricity and the like, and can obtain more target characteristics without the failure of the task of detecting the whole target caused by the deviation of certain physical field information. The multiple kinds of information such as the sound, the magnetism and the electricity of the target can mutually prove and mutually supplement, and the more the information is, the more accurate and reliable the result is, thereby being beneficial to improving the detection probability of the target under the condition of low signal-to-noise ratio. The environmental interference often does not have the same time and space, so that the targets and the interference are easier to distinguish, and false alarms are less likely to occur. In addition, because the generation mechanisms of the sound, the magnetism and the electric field of the target are different, the sound, the magnetism and the electric field of the target are difficult to be eliminated artificially, and the detection is more difficult to be interfered by artificially simulating the sound, the magnetism and the electric field characteristics of the target, even the detection is limited by space, energy, cost and the like and cannot be realized synchronously, so that the sound, the magnetism and the electric integrated detection of the target has greater advantages in the aspects of preventing the influence of means such as artificial elimination, artificial simulation interference and the like.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides an underwater acousto-optic-electric integrated target detection device, an underwater acousto-optic-electric integrated target detection method and application. The invention adopts a bottom-sitting configuration, has compact structure, can be laid in a mode of directly throwing in water, and releases the small buoy for recycling through timing or according to remote control instructions; after the underwater target detection device is placed, the underwater target detection device automatically works by means of an internal power supply, can synchronously receive sound field, magnetic field and electric field signals of the target, realizes reliable detection of the underwater target by utilizing the coupling and complementarity of multiple field characteristics, has the characteristics of low false alarm, low omission, high marine environment interference resistance or artificial simulation interference resistance and the like, and meets the requirements of people on reliable detection of the underwater target under increasingly common low signal-to-noise ratio, multiple interference and strong interference resistance environments.
The invention is realized in such a way that an underwater acousto-magnetic electric integrated target detection device is provided with:
a sitting base;
the upper side of the sitting bottom base is provided with a watertight electronic cabin, and the inside of the watertight electronic cabin is provided with an underwater physical field data acquisition and processing instrument;
the upper right side of the watertight electronic cabin is provided with a pressure sensor, the middle position of the upper side of the watertight electronic cabin is provided with an electric field receiver, and the upper side of the electric field receiver is provided with an acousto-magnetic composite receiver.
Further, a detection socket is arranged on the upper side of the watertight electronic cabin.
Further, the left side and the right side of the watertight electronic cabin are respectively provided with a first recovery small buoy and a second recovery small buoy, and the first recovery small buoy and the second recovery small buoy are respectively connected with a recovery rope.
Further, the acoustic-magnetic composite receiver adopts a circular tube type structure, the cylindrical cavity inside is used for installing the magnetic receiver, and polyurethane acoustic rubber and waterproof glue are coated outside to ensure watertight.
Further, the acousto-magnetic composite receiver is connected with the shell of the three-component electric field receiver through a supporting rod.
Further, the electric field receiver is installed in opposite directions by 6 electrodes and is fixed on the top cover of the watertight electronic cabin through a bracket, and a water inlet hole is reserved on the protective shell.
Another object of the present invention is to provide an underwater acousto-magnetic electric integrated target detection method of the underwater acousto-magnetic electric integrated target detection device, the underwater acousto-magnetic electric integrated target detection method comprising:
the sound-magnetic composite receiver converts a sound field signal and a magnetic field signal of a target into analog electric signals and transmits the analog electric signals to the underwater multi-physical-field data acquisition and processing instrument;
the electric field receiver converts an electric field signal of a target into an analog electric signal and transmits the analog electric signal to the underwater multi-physical-field data acquisition and processing instrument;
the pressure sensor measures the sea water depth, and the detection socket is externally connected with detection equipment to perform function detection, parameter presetting, working state setting, data reading and the like on the device;
the battery pack is used for providing a stable working power supply for the device, and the sitting base provides sufficient negative buoyancy and stable sitting posture for the device; the recovery small buoy is used for device recovery, and is released and recovered at fixed time or according to a remote control instruction;
the method specifically comprises the following steps:
before laying, detecting the device by detecting a detection device externally connected with a socket, selecting a working mode, setting working parameters and the like after the detection is passed, and enabling the device to enter a dormant state;
the device is thrown into water by the side of the deployment ship, the device sinks by self gravity, and the self posture of the device is adjusted to be vertical to the bottom by means of the configured aerosol floating center in the sinking process;
after the device sits on the bottom, the underwater multi-physical-field data acquisition and processing instrument sends a wake-up signal after timing or after receiving an acoustic remote control instruction, and the device starts to be electrified to enter a working state;
after the power-on, the self-checking is finished, after the self-checking is successful, the acousto-magnetic composite receiver and the electric field receiver begin to synchronously receive acoustic, magnetic and electric field signals, the pressure sensor begins to measure the sea water depth, and the sea water depth is respectively transmitted to an underwater multi-physical field data acquisition and processing instrument;
the underwater multi-physical-field data acquisition and processing instrument synchronously acquires and processes acoustic, magnetic and electric field signals and sea water depth signals to give target detection results, packages multi-field original data, processing results, system state parameters and the like, and stores the multi-field original data, the processing results, the system state parameters and the like in the data storage module;
after timing time or receiving an acoustic remote control instruction, stopping the device, sending a control signal by the underwater multi-physical-field data acquisition and processing instrument to release the small buoy, and fishing out water by utilizing a fishing rope tethered by the buoy;
after recovery, the device detection is completed by reading and analyzing the stored data through the detection socket external detection equipment.
Further, the underwater multi-physical-field data acquisition and processing instrument controls the overall working time sequence of the system, conditions the electric signals output by the acoustic, magnetic or electric-field receivers, acquires and stores target acoustic, magnetic or electric-field data, gives target detection results after fusion processing of various data, and realizes power supply conversion and distribution management.
Another object of the present invention is to provide an underwater target detection terminal, in which the underwater acousto-optic electric integrated target detection device is mounted.
Another object of the present invention is to provide an underwater acousto-magnetic electric integrated target detection device, on which the underwater acousto-magnetic electric integrated target detection device is mounted.
By combining all the technical schemes, the invention has the advantages and positive effects that: the invention has compact structure, light weight and small volume, can be laid by adopting a mode of directly putting in water, works after laying, has fixed position and better gesture stability, and releases the small buoy for recycling through timing or according to remote control instructions, thereby having less limitation, low requirement and simple and convenient operation and low use cost on the laying platform and the configuration of facilities thereof in the laying and recycling process.
The underwater target detection device and the underwater target detection method based on the internal power supply automatically work after being laid, personnel control is not needed, sound field, magnetic field and electric field signals of the target can be synchronously received, the underwater target can be reliably detected by utilizing the coupling and complementarity of the multiple field characteristics, the underwater target detection device and the underwater target detection method based on the internal power supply have the characteristics of low false alarm, low omission, high marine environment interference resistance or high artificial simulation interference resistance and the like, and the requirements of people on reliable detection of the underwater target under increasingly common low signal-to-noise ratio, multiple interference and high interference resistance environments are met.
Drawings
Fig. 1 is a schematic structural diagram of an underwater acousto-optic-electric integrated target detection device provided by an embodiment of the invention.
Fig. 2 is a schematic diagram of the placement and target detection operation according to the embodiment of the present invention.
FIG. 3 is a block diagram of a workflow provided by an embodiment of the present invention.
Fig. 4 is a schematic diagram of a synchronously received target sound field intensity, magnetic field intensity and electric field intensity time according to an embodiment of the present invention.
In the figure: 1. detecting a socket; 2. an underwater physical field data acquisition and processing instrument; 3. watertight electronic cabin; 4. a first recovery buoy; 5. an acousto-magnetic composite receiver; 6. an electric field receiver; 7. a pressure sensor; 8. a battery pack; 9. a second recovery buoy; 10. a sitting base.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Aiming at the problems in the prior art, the invention provides an underwater acousto-optic-electric integrated target detection device, an underwater acousto-optic-electric integrated target detection method and application, and the invention is described in detail below with reference to the accompanying drawings.
Other steps may be performed by those skilled in the art of the underwater acousto-optic and electric integrated target detection device provided by the present invention, and the underwater acousto-optic and electric integrated target detection device provided by the present invention of fig. 1 is merely a specific embodiment.
As shown in fig. 1, the underwater acousto-optic-electric integrated target detection device provided by the embodiment of the invention is in a sitting bottom configuration, a watertight electronic cabin 3 is installed on the upper side of a sitting bottom base 10, and a first recovery small buoy 4 and a second recovery small buoy 9 are respectively arranged on the left side and the right side of the watertight electronic cabin 3.
The underwater physical field data acquisition and processing instrument 2 is arranged in the watertight electronic cabin 3, the pressure sensor 7 is arranged on the upper right side of the watertight electronic cabin 3, and the detection socket 1 is arranged on the upper left side of the watertight electronic cabin 3; an electric field receiver 6 is arranged in the middle of the upper side of the watertight electronic cabin 3, and an acousto-magnetic composite receiver 5 is arranged on the upper side of the electric field receiver 6.
Wherein, the sound magnetic composite receiver 5 adopts the pipe type structure, and inside cylindrical cavity is used for installing the magnetic receiver, and outside coating polyurethane sound rubber and waterproof glue are in order to guarantee watertight. The acousto-magnetic composite receiver 5 is connected with the shell of the three-component electric field receiver 6 through a supporting rod.
The electric field receiver 6 is installed in opposite directions by 6 electrodes and is fixed on the top cover of the watertight electronic cabin 3 through a bracket, and a water inlet hole is reserved on the protective shell. The upper part of the watertight electronic cabin 3 is provided with an underwater multi-physical-field data acquisition and processing instrument 2 which is responsible for the work time sequence control, the acoustic/magnetic/electric field signal conditioning, the signal processing, the data storage, the power management and the like of the system.
The battery pack 8 is arranged at the lower part of the watertight electronic cabin 3 and is responsible for providing energy for the underwater self-sustaining operation of the system.
At the bottom end of the device is a base 10, which is responsible for providing the system with sufficient negative buoyancy and stable base attitude. The seat base 10 is provided with 2 recovery small buoys, which are connected with recovery ropes and can be released at regular time or according to remote control instructions for recovery of the device.
The working principle of the invention is as follows: the sound-magnetic composite receiver 5 converts the sound field signal and the magnetic field signal of the target into analog electric signals and transmits the analog electric signals to the underwater multi-physical-field data acquisition and processing instrument 2; the electric field receiver 6 converts an electric field signal of a target into an analog electric signal and transmits the analog electric signal to the underwater multi-physical-field data acquisition and processing instrument 2; the pressure sensor 7 measures the sea water depth, and the detection socket 1 is externally connected with detection equipment to perform function detection, parameter presetting, working state setting, data reading and the like on the device; the underwater multi-physical-field data acquisition and processing instrument 2 controls the overall working time sequence of a system, conditions the electric signals output by the acoustic/magnetic/electric-field receiver, acquires and stores target acoustic/magnetic/electric-field data, gives target detection results after fusion processing of various data, and realizes power supply conversion and distribution management; the battery pack 8 is used for providing a stable working power supply for the device, and the sitting base 10 provides sufficient negative buoyancy and stable sitting posture for the device; the recovery small buoy is used for device recovery, and can release recovery at fixed time or according to remote control instructions.
The device shown in fig. 2 is arranged by the arranging ship to work at the recoil bottom, and synchronously receives and processes the acoustic, magnetic and electric field signals of the target ship. The main workflow is as shown in fig. 3: before laying, detecting the device by detecting a detection device externally connected with a socket, selecting a working mode, setting working parameters and the like after the detection is passed, and enabling the device to enter a dormant state; the device is thrown into water by the side of the deployment ship, the device sinks by self gravity, and the self posture of the device is adjusted to be vertical to the bottom by means of the configured aerosol floating center in the sinking process;
after the device sits on the bottom, the underwater multi-physical-field data acquisition and processing instrument sends a wake-up signal after timing or after receiving an acoustic remote control instruction, and the device starts to be electrified to enter a working state;
after the power-on, the self-checking is finished, after the self-checking is successful, the acousto-magnetic composite receiver and the electric field receiver begin to synchronously receive acoustic, magnetic and electric field signals, the pressure sensor begins to measure the sea water depth, and the sea water depth is respectively transmitted to an underwater multi-physical field data acquisition and processing instrument;
the underwater multi-physical-field data acquisition and processing instrument synchronously acquires and processes the sound, magnetic and electric field signals and the sea water depth signals, can simultaneously give target detection results such as a sound intensity passing curve, a magnetic intensity passing curve, an electric intensity passing curve and the like shown in fig. 4, packages multi-field original data, processing results, system state parameters and the like, and stores the packaged multi-field original data, processing results, system state parameters and the like in a data storage module of the underwater multi-physical-field data acquisition and processing instrument;
after timing time or receiving an acoustic remote control instruction, stopping the device, sending a control signal by the underwater multi-physical-field data acquisition and processing instrument to release the small buoy, and fishing out water by utilizing a fishing rope tethered by the buoy;
after recovery, the device detection is completed by reading and analyzing the stored data through the detection socket external detection equipment.
The invention takes a plurality of physical fields such as sound, magnetism, electricity and the like of the target as a whole, realizes the reliable detection of the underwater target by utilizing the coupling and complementarity of the characteristics of multiple fields, and has the characteristics of low false alarm, low leakage detection, strong anti-interference capability of marine environment interference resistance or artificial simulation and the like.
It should be noted that the embodiments of the present invention can be realized in hardware, software, or a combination of software and hardware. The hardware portion may be implemented using dedicated logic; the software portions may be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or special purpose design hardware. Those of ordinary skill in the art will appreciate that the apparatus and methods described above may be implemented using computer executable instructions and/or embodied in processor control code, such as provided on a carrier medium such as a magnetic disk, CD or DVD-ROM, a programmable memory such as read only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The device of the present invention and its modules may be implemented by hardware circuitry, such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., as well as software executed by various types of processors, or by a combination of the above hardware circuitry and software, such as firmware.
The foregoing is merely illustrative of specific embodiments of the present invention, and the scope of the invention is not limited thereto, but any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present invention will be apparent to those skilled in the art within the scope of the present invention.
Claims (3)
1. The underwater acousto-magnetic electric integrated target detection method is characterized by using an underwater acousto-magnetic electric integrated target detection device, wherein the underwater acousto-magnetic electric integrated target detection device is provided with:
a sitting base;
the upper side of the sitting bottom base is provided with a watertight electronic cabin, and the inside of the watertight electronic cabin is provided with an underwater physical field data acquisition and processing instrument;
the right upper side of the watertight electronic cabin is provided with a pressure sensor, the middle position of the upper side of the watertight electronic cabin is provided with an electric field receiver, and the upper side of the electric field receiver is provided with an acousto-magnetic composite receiver;
a detection socket is arranged on the upper side of the watertight electronic cabin;
the left side and the right side of the watertight electronic cabin are respectively provided with a first recovery small buoy and a second recovery small buoy, and the first recovery small buoy and the second recovery small buoy are respectively connected with a recovery rope;
the acoustic-magnetic composite receiver adopts a circular tube type structure, a cylindrical cavity in the acoustic-magnetic composite receiver is used for installing the magnetic receiver, and polyurethane acoustic rubber and waterproof glue are coated outside the acoustic-magnetic composite receiver to ensure watertight performance;
the acousto-magnetic composite receiver is connected with the shell of the three-component electric field receiver through a supporting rod;
the underwater acousto-optic-electric integrated target detection method comprises the following steps:
before laying, detecting the device by detecting a detection device externally connected with a socket, selecting a working mode after the detection device passes, setting working parameters, and enabling the device to enter a dormant state;
the device is thrown into water by the side of the deployment ship, the device sinks by self gravity, and the self posture of the device is adjusted to be vertical to the bottom by means of the configured aerosol floating center in the sinking process;
after the device sits on the bottom, the underwater multi-physical-field data acquisition and processing instrument sends a wake-up signal after timing or after receiving an acoustic remote control instruction, and the device starts to be electrified to enter a working state;
after the power-on, the self-checking is finished, after the self-checking is successful, the acousto-magnetic composite receiver and the electric field receiver begin to synchronously receive acoustic, magnetic and electric field signals, the pressure sensor begins to measure the sea water depth, and the sea water depth is respectively transmitted to an underwater multi-physical field data acquisition and processing instrument;
the underwater multi-physical-field data acquisition and processing instrument synchronously acquires and processes the acoustic, magnetic and electric field signals and the sea water depth signals to give a target detection result, packages multi-field original data, a processing result and system state parameters and stores the packaged multi-field original data, the processing result and the system state parameters in the data storage module;
after timing time or receiving an acoustic remote control instruction, stopping the device, sending a control signal by the underwater multi-physical-field data acquisition and processing instrument to release the small buoy, and fishing out water by utilizing a fishing rope tethered by the buoy;
after recovery, the device detection is completed by reading and analyzing the stored data through the detection socket external detection equipment.
2. The underwater acousto-optic-electric integrated target detection method according to claim 1, wherein the electric field receiver is installed in a way of 6 electrodes facing each other, and is fixed on a top cover of a watertight electronic cabin through a bracket, and a water inlet hole is reserved on a protective shell.
3. The underwater acousto-optic and electric integrated target detection method according to claim 1, wherein the underwater multi-physical-field data acquisition and processing instrument control system is characterized in that the overall working time sequence is that an electric signal output by an acoustic, magnetic or electric field receiver is conditioned, target acoustic, magnetic or electric field data are acquired and stored, a target detection result is given after various data are processed in a fusion mode, and power supply conversion and distribution management are achieved.
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| CN115308815B (en) * | 2022-10-11 | 2023-03-24 | 中国海洋大学 | Automatic monitoring method and device for accidental water outlet of submarine electromagnetic exploration device |
| CN115973330B (en) * | 2022-12-16 | 2023-12-19 | 中国海洋大学 | Buoy for real-time magnetic detection of deep open sea based on iridium communication |
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