CN115140245A - Variable-depth active detection acoustic buoy - Google Patents

Abstract

The application provides a variable-depth active detection acoustic buoy, including: the device comprises a signal receiving and transmitting system, a deepening mechanism, a control system, a communication system and an energy supply system, wherein the signal receiving and transmitting system comprises a signal transmitting mechanism and a signal receiving mechanism; the deepening mechanism is connected with the signal receiving and transmitting system and drives the signal receiving and transmitting system to deepen; the control system is in signal connection with the signal receiving and transmitting system and the depth-varying mechanism; the communication system is in signal connection with the control system; the energy supply system supplies energy to the signal receiving and transmitting system, the deepening mechanism, the communication system and the control system; the control system sends a control signal to the signal receiving and transmitting system and the deepening mechanism, so that the signal receiving and transmitting system sends a detection sound signal in a set form at a set depth and carries out autonomous detection processing. The application provides an acoustic buoy avoids acoustic buoy not enough energy to appear in the operation process and can't normally work with initiative mode, can realize discovering and continuously tracking task as early as possible to the low noise target under water.

Description

Variable-depth active detection acoustic buoy

Technical Field

The application belongs to the technical field of underwater acoustic engineering, and particularly relates to a depth-variable active detection acoustic buoy.

Background

In underwater acoustic engineering, with the development of technologies such as autonomous detection and automatic tracking, cross-medium communication and networking, high-performance computing and machine learning, the detection of underwater targets is developed from the original single platform and single equipment to a networked system, an unmanned platform and acoustic loads thereof mainly comprising various types of floating/submerged buoys, unmanned underwater vehicles/surface boats, underwater gliders and the like become an important part of the system, and the buoys become main members of the system by virtue of the advantages of easy deployment and high cost performance.

At present, the energy supply mode is limited, the acoustic detection buoy mainly adopts a low-power-consumption passive mode, the direction of a target can be measured, and the distance measurement and the speed measurement are difficult. Individual active targets powered by internal batteries cannot support long-time high-power emission, and are difficult to be competent for continuous positioning and tracking of underwater targets. The acoustic array of most buoys cannot have independent large-range deepening capacity, propagation effects such as convergence zones, seabed reflection, deep sea sound channels and reliable sound paths cannot be comprehensively utilized for detection, and the target finding distance and the tracking stability are limited. Therefore, how to timely and effectively find the underwater low-noise target is always a difficult point of underwater acoustic detection, and the sonar technology does not well solve the problem so far.

Disclosure of Invention

The embodiment of the application provides a deepening initiative detection acoustic buoy to it is limited to solve current acoustic buoy energy supply, can't continuously implement the problem of deepening initiative detection.

The embodiment of the application provides a but depthkeeping initiative surveys acoustics buoy, includes:

the signal receiving and transmitting system comprises a signal transmitting mechanism and a signal receiving mechanism;

the deepening mechanism is connected with the signal receiving and transmitting system and drives the signal receiving and transmitting system to deepen;

the control system is in signal connection with the signal receiving and transmitting system and the depth-varying mechanism;

the communication system is in signal connection with the control system to realize the communication between the control system and the outside;

the energy supply system supplies energy to the signal receiving and transmitting system, the deepening mechanism, the communication system and the control system;

the control system sends a control signal to the signal receiving and transmitting system and the deepening mechanism, so that the signal receiving and transmitting system sends out a detection sound signal in a set form at a set depth, and meanwhile, an echo signal of the signal receiving mechanism is received and processed.

Optionally, the deepening mechanism includes a winch and a bearing cable wound on the winch, and the signal transceiver system is fixedly connected to the end of the bearing cable.

Optionally, the signal transmitting mechanism includes a power amplifier and a transmitting array connected with each other, and the transmitting array includes a plurality of disc transducers arranged at intervals along the extending direction of the bearing cable.

Optionally, the signal receiving mechanism includes:

the receiving bracket is connected to the tail end of the bearing cable and comprises a central rod and a plurality of receiving arms surrounding the central rod, and one end of each receiving arm is movably connected with the central rod so that the receiving arms can be unfolded or folded relative to the central rod;

a plurality of hydrophones disposed on the receiving arm.

Optionally, the energy supply system comprises:

the fuel pocket is used for containing fuel;

the power generation module comprises a generator, and the generator is connected with the fuel oil pocket through a pipeline;

the power supply module, for the signal receiving and dispatching system deepening the mechanism communication system and control system provides the energy, power supply module includes first energy supply unit and second energy supply unit, first energy supply unit with power generation module electric connection is used for storing the electric energy that power generation module produced.

Optionally, the first energy supply unit includes:

a battery pack including a plurality of batteries;

a packaging box for accommodating the battery pack;

the battery safety control module comprises a processing unit and a monitoring unit, wherein the monitoring unit is used for monitoring one or more of the pressure of the packaging box, the liquid level of the packaging box, the temperature of the battery and the electric quantity of the battery, and conveying a monitoring result to the processing unit, and the processing unit reports fault alarm information to the control system and carries out fault processing according to a fault processing instruction sent by the control system.

Optionally, the output power of the first energy supply unit is greater than the output power of the second energy supply unit.

Optionally, the second energy supply unit includes:

the top layer unit battery is packaged in the top layer electronic unit and supplies power to the top layer electronic unit;

and the bottom layer unit cell is packaged in the bottom layer electronic unit and supplies power to the bottom layer electronic unit.

Optionally, the fault handling instruction includes a normal fault handling and/or a battery pack release, and the normal fault handling includes one or more of a cooling process, a pressure relief process, and a liquid discharge process.

Optionally, the control system generates a target detection strategy according to information data and a remote control instruction provided by the outside, sends out a control instruction according to the target detection strategy, and performs data processing on an echo signal received by the signal receiving mechanism according to target echo and background interference characteristic forecast provided by the target detection strategy.

Optionally, the target detection strategy includes a depth variation strategy, a signal variation strategy and an attitude variation strategy; the control system sends a depth control instruction to the depth mechanism based on the depth strategy, sends a variable signal instruction to the signal transmitting mechanism based on the variable signal strategy, and sends an attitude adjusting instruction to the signal receiving mechanism based on the variable attitude strategy, wherein the variable signal instruction comprises a transmitted waveform instruction and a transmitted start-stop instruction.

The embodiment of the application provides a variable-depth active detection acoustic buoy, through communication system and external communication, obtain information and instruction that external terminal provided and transmit the detection result, variable-depth active detection acoustic buoy can realize deepening in deep sea area, powerful long-time active detection, it is big to satisfy deep sea detection region, the detection demand that the detection precision is high, whole in-process energy supply system can continuously be signal transceiver system, the deepening mechanism, communication system and control system provide the energy, current acoustic buoy duration is low has been overcome, the problem of unable implementation deepening active detection, avoid acoustic buoy appear the energy not enough and unable normal work in the operation process, can realize the discovery and continuously track the task to the low noise target under water as early as possible.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the application, and that other drawings can be derived from these drawings by a person skilled in the art without inventive effort.

For a more complete understanding of the present application and its advantages, reference is now made to the following descriptions taken in conjunction with the accompanying drawings. Wherein like reference numerals refer to like parts in the following description.

FIG. 1 is a schematic diagram of a variable depth active sounding acoustic buoy according to the present invention;

fig. 2 is a schematic structural diagram of a variable-depth active sounding acoustic buoy provided in an embodiment of the present application;

fig. 3 is a schematic structural diagram of a depth-variable active detection acoustic buoy provided in an embodiment of the present application when the buoy is in a storage state;

fig. 4 is a schematic structural diagram of a depth-variable active probing acoustic buoy provided in an embodiment of the present application in an expanded state;

FIG. 5 is a schematic structural view of the disc transducer of FIG. 3 in a stored state;

FIG. 6 is a schematic view of the disk transducer of FIG. 4 in an expanded state;

FIG. 7 is a schematic view of the receiving rack of FIG. 3 in a stowed position;

FIG. 8 is a schematic view of the mounting structure of the receiving bracket of FIG. 4 in an expanded state;

fig. 9 is a schematic diagram illustrating an operating principle of a variable-depth active sounding acoustic buoy according to an embodiment of the present disclosure;

fig. 10 is a flowchart of a detection method for a variable-depth active detection acoustic buoy according to an embodiment of the present application.

In the figure: 1. a floating bag; 2. a water surface cabin; 3. a generator; 4. a communication system; 5. a top layer electronic unit; 6. starting the battery; 7. a charger; 8. an air inlet pipe; 9. an exhaust pipe; 10. a fuel compartment; 11. a fuel oil pocket; 12. a cable car compartment; 13. a winch; 14. a bottom deck; 15. a power amplifier; 16. an energy supply battery; 17. transmitting an array; 18. receiving an array; 19. a bottom layer electronic unit; 20. a disc transducer; 21. a center pole; 22. a receiving arm; 23. sinking the blocks; 24. a load-bearing cable; 25. a hydrophone; 26. a orthomorphic auxiliary rope; 100. an acoustic float; 101. a signal transceiving system; 102. a control system; 103. an energy supply system; 104. a deepening mechanism; 105. a signal emitting mechanism; 106. and a signal receiving mechanism.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The embodiment of the application provides a variable-depth active detection acoustic buoy, which aims to solve the problems that the conventional acoustic buoy is low in cruising ability and cannot realize variable-depth active detection. The following description will be made with reference to the accompanying drawings.

As shown in fig. 1, an embodiment of the present application provides a variable-depth active sounding acoustic buoy 100, including: a signal receiving and transmitting system 101, a deepening mechanism 104, a control system 102, a communication system 4 and an energy supply system 103; the signal transceiving system 101 comprises a signal transmitting mechanism 105 and a signal receiving mechanism 106, the deepening mechanism 104 is connected with the signal transceiving system 101 and drives the signal transceiving system 101 to deepen, the control system 102 is in signal connection with the signal transceiving system 101 and the deepening mechanism 104, the communication system 4 is in signal connection with the control system 102 to achieve communication between the control system 102 and the outside, the energy supply system 103 provides energy for the signal transceiving system 101, the deepening mechanism 104, the communication system 4 and the control system 102, and the control system 102 sends out control signals to the signal transceiving system 101 and the deepening mechanism 104, so that the signal transceiving system 101 sends out detection sound signals.

The deepening mechanism 104, the control system 102, the communication system 4 and the energy supply system 103 are arranged in the floating sample body of the acoustic buoy 100, and the signal receiving and transmitting system 101 is arranged in water outside the floating sample body, so that acoustic signals in the water can be transmitted and received.

In some embodiments, as shown in fig. 2-4, further described below in connection with the structural arrangement of the acoustic buoy 100, the acoustic buoy 100 may be divided into 4 sections in sequence from top to bottom, including: a surface tank 2, a fuel tank 10, a cable car tank 12 and a bottom tank 14.

The surface chamber 2 is provided with a buoyancy bladder 1 on the outside to provide the necessary buoyancy for the acoustic buoy 100 to float on the surface of the sea.

The communication system 4 is a satellite or wireless communication component that enables data communication between the acoustic buoy 100 and a user or a shore base via satellite communication or wireless communication. The communication system 4 is arranged in the surface capsule 2.

The control system 102 comprises a top layer electronic unit 5 and a bottom layer electronic unit 19 which are in signal connection, wherein the top layer electronic unit 5 is a control center of the acoustic buoy 100, is positioned in the water surface chamber 2 and is connected with the communication system 4 and used for processing received data provided by the outside and controlling the function of the acoustic buoy 100, and the bottom layer electronic unit 19 is arranged together with the signal receiving mechanism 106 and used for processing the echo signals received by the signal receiving mechanism 106 and collecting the array direction of the receiving array 18 and the attitude data and sending the data to the top layer electronic unit 5.

The deepening mechanism 104 comprises a winch 13 and a bearing cable 24 wound on the winch 13, the winch 13 is arranged in the cable car cabin 12, one end of the bearing cable 24 is fixed on the winch 13 and is connected with the power amplifier 15 and the control system 102 through a slip ring adapter, the other end of the bearing cable is connected with a suspension signal transmitting mechanism 105 after being wound on the winch, and a signal receiving mechanism 106 and a bottom layer electronic unit 19 are closely suspended below the suspension signal transmitting mechanism at a small interval.

The signal transmitting mechanism 105 comprises a transmitting array 17 consisting of a plurality of transmitting array elements, the signal receiving mechanism 106 comprises a receiving array 18 consisting of a plurality of receiving array elements, and an acoustic array consisting of the transmitting array 17 and the receiving array 18 is driven by the depth varying mechanism 104 to realize underwater depth adjustment.

When the system works, an external terminal transmits information and a remote control command to the acoustic buoy 100 in a wireless mode through the communication system 4, the control system 102 receives and processes the information and the remote control command to form a target detection strategy, corresponding control signals are sent to the signal receiving and sending system 101 and the deepening mechanism 104 based on the target detection strategy, and the deepening mechanism 104 drives the signal receiving and sending system 101 to deepen and change the signals according to the control signals, so that the signal receiving and sending system 101 sends out detection sound signals in a set depth mode. The detection acoustic signal is reflected by the target or the obstacle to form an echo signal, and the echo signal is received by the signal receiving mechanism 106 and then transmitted to the control system 102 for active autonomous detection processing, and the processing result is sent to an external terminal through the communication system 4. In the whole process, the energy supply system 103 can continuously supply energy to the signal receiving and transmitting system 101, the deepening mechanism 104, the communication system 4 and the control system 102, so that long-time, high-power and active deepening detection of the acoustic buoy 100 is realized, and early discovery and continuous tracking of an underwater low-noise target are realized.

In some embodiments, the energy supply system 103 comprises: the fuel oil package 11 is used for containing fuel oil, the power generation module comprises a generator 3, and the generator 3 is connected with the fuel oil package 11 through a pipeline; the power supply module provides energy for signal transceiver system 101, deepening mechanism 104, communication system 4 and control system 102, the power supply module includes first energy supply unit and second energy supply unit, first energy supply unit and power generation module electric connection, power supply module are used for storing the electric energy that power generation module produced. It can be understood that the generator 3 in the power generation module converts the fuel oil in the fuel oil pocket 11 into electric energy, the electric energy generated by the generator 3 is stored in the power supply module, and the electric energy in the power supply module can provide energy for the signal transceiver system 101, the deepening mechanism 104, the communication system 4 and the control system 102, so as to ensure that the whole acoustic buoy 100 continuously operates.

The fuel package 11 is disposed in the fuel compartment 10, and energy can be supplied by supplementing fuel into the fuel package 11 or directly replacing the fuel package 11, so as to improve the service life and endurance of the acoustic buoy 100. The power generation module is arranged in the water surface cabin 2, wherein an air inlet pipe 8 and an air outlet pipe 9 of the power generator 3 are exposed out of the water surface, so that air inlet and air exhaust during the work of the power generator 3 are facilitated.

In some embodiments, the power supply module comprises a first power supply unit and a second power supply unit; through setting up different energy supply units, supply power to different power consumption parts or equipment respectively, can be more favorable to providing suitable power supply tactics to the specific power consumption demand of different power consumption parts like this. The electric energy generated by the generator 3 can be used for charging the first energy supply unit through the charger 7, and when the batteries are fully charged or the maximum continuous charging time is reached, the generator 3 and the charger 7 stop working.

Furthermore, the output power of the first energy supply unit is greater than the output power of the second energy supply unit, so that the first energy supply unit can supply power to the high energy consumption component, and the second energy supply unit can supply power to the low energy consumption component.

In some embodiments, the first energy supply unit may also supply power instead of the second energy supply unit to improve the endurance of the buoy.

In some embodiments, the first energy supply unit is a centralized energy supply unit, the first energy supply unit comprising: the battery pack, the packaging box and the battery safety control module; the storage battery pack is formed by connecting a plurality of storage batteries; the packaging box is used for accommodating the storage battery pack; the battery safety control module comprises a processing unit and a monitoring unit, wherein the monitoring unit is used for monitoring one or more of the pressure of the packaging box, the liquid level of the packaging box, the temperature of the storage battery and the electric quantity of the storage battery, and transmitting the monitoring result to the processing unit, and the processing unit reports fault alarm information to the control system 102 and carries out fault processing according to a fault processing instruction sent by the control system 102. It is understood that a battery pack may be mounted within the enclosure to provide power to the entire acoustic buoy 100 via batteries within the battery pack; in the working process of the acoustic buoy 100, a monitoring unit in a battery safety management and control module can monitor the pressure of a packaging box, the liquid level of the packaging box, the temperature of a storage battery and the electric quantity of the storage battery in real time, when information monitored by the monitoring unit is abnormal, a processing unit in the battery safety management and control module reports fault alarm information to the control system 102, the control system 102 can analyze and process the fault alarm information and feed back a fault processing instruction to the processing unit, and the processing unit processes corresponding faults according to the fault processing instruction, so that the continuous and stable operation of the whole acoustic buoy 100 is ensured.

Wherein the fault handling instruction comprises conventional fault handling and/or battery pack release, and the conventional fault handling comprises one or more of cooling treatment, pressure relief treatment and liquid discharge treatment. It can be understood that when the acoustic buoy 100 works abnormally, the control system 102 will make a corresponding fault handling instruction according to the information monitored by the monitoring unit; the fault handling instruction may be a normal fault handling for the acoustic buoy 100, or may be a process of removing the battery pack when the acoustic buoy 100 runs out of energy, or may be a process of cooling the acoustic buoy 100, a process of relieving pressure, or a process of draining liquid.

The battery pack in the first power unit further comprises a start-up battery 6 and a power supply battery 16 electrically connected, the power supply battery 16 providing power for the systems in the acoustic buoy 100, the start-up battery 6 being capable of powering the start-up of the generator 3. In order to ensure the charging safety of the storage battery pack, the starting battery 6 and the energy supply battery 16 can be designed separately.

The second energy supply unit may employ distributed small-capacity battery cells. This allows for different components to be powered at different locations.

In the embodiment, the fuel bag 11 stores fuel for the generator 3 to work for several days to ten days continuously, and the fuel bag 11 can be replenished with fuel after use, or the fuel bag 11 can be directly replaced. The generator 3 can be selected from a mute mini model, which can reduce noise generated during operation and save space of the acoustic buoy 100. The fuel oil pocket 11 can continuously supply fuel oil for the generator 3 through a fuel pipeline, and the fuel oil can use diesel oil.

On the basis of the above embodiments, the present application further provides the following examples, fig. 5 is a schematic structural diagram of the disc transducer 20 in fig. 3 in a storage state, fig. 6 is a schematic structural diagram of the disc transducer 20 in fig. 4 in a deployed state, fig. 7 is a schematic structural diagram of the receiving bracket in fig. 3 in the storage state, fig. 8 is a schematic structural diagram of the receiving bracket in fig. 4 in the deployed state, and fig. 9 is an operational schematic diagram of the depth-variable active detection acoustic buoy 100.

In some embodiments, the deepening mechanism 104 includes a winch 13, and a bearing cable 24 wound around the winch 13, and the signal transceiver system 101 is fixedly connected to an end of the bearing cable 24. As can be understood, the winch 13 is located in the cable car cabin 12, one end of the bearing cable 24 can be wound on the outer wall of the winch 13, and the other end of the bearing cable 24 extends out of the bottom of the cable car cabin 12 to the underwater and is fixedly connected with the signal transmitting mechanism 105 and the signal receiving mechanism 106 in the signal transceiving system 101; in operation, the winch 13 controls the winding and unwinding of the bearing cable 24 according to the control signal sent by the control system 102, so as to change the water depth position of the signal transceiver system 101 at the end of the bearing cable 24, thereby realizing the active detection of the acoustic buoy 100 with variable depth.

In this embodiment, the winch 13 may be miniaturized and the bearing cable 24 may be lightly designed, thereby reducing the overall volume and mass of the acoustic buoy 100.

As shown in fig. 5 and 6, in some embodiments, the signal emitting mechanism 105 includes a signal connected power amplifier 15 and a transmit array 17, the transmit array 17 including a plurality of disc transducers 20 spaced apart along the length of the support cable 24. It is understood that the control system 102 controls the detecting sound signal emitted from the signal transceiver system 101 to be amplified by the power amplifier 15 and then transmitted to the disc type transducer 20 in the transmitting array 17 through the load-bearing cable 24, and the disc type transducer 20 can convert the electric signal into sound signal and radiate the sound signal to the outside.

With further reference to fig. 7 and 8, the signal receiving mechanism 106 includes a receiving bracket and a plurality of hydrophones 25, the receiving bracket is connected to the end of the bearing cable 24 below the transmitter array 17, the receiving bracket includes a central rod 21 and a plurality of receiving arms 22 surrounding the central rod 21, one end of the receiving arms 22 is movably connected to the central rod 21, so that the receiving arms 22 can be unfolded or folded relative to the central rod 21; a plurality of hydrophones 25 are arranged on the receiving arm 22. It will be appreciated that when the signal receiving mechanism 106 is deployed, the receiving arms 22 around the central rod 21 will rotate around their connection point to achieve deployment, and the hydrophone 25 on the receiving arms 22 will receive the echo signal under water and transmit the echo signal to the bottom layer electronic unit 19.

In some embodiments, the exterior of the acoustic buoy 100 is provided with a receiving receptacle for the signal receiving mechanism 106 and the floor compartment 14 is provided with a transmitting receptacle for the signal transmitting mechanism 105. The power amplifier 15 and the plurality of disc transducers 20 may be housed in a launch storage location with the acoustic buoy 100 in the stowed state, with the central rod 21 and the receiving arm 22 pre-set in the receiving storage location and placed in the water with the drawworks 13 in use. The disk transducer 20 may be removed from the launch reservoir and the center rod 21 and receiving arm 22 may be removed from the launch reservoir and then brought together into the water when the acoustic buoy 100 is in the deployed state, thereby reducing the volume of the acoustic buoy 100 and facilitating its use by the user.

Wherein, before the transmitting array 17 works, a plurality of disc type transducers 20 can be vertically stacked together and then are together received in a transmitting storage; in operation, the disc transducer 20 is dropped into the water and then released to a set depth by the winch 13 and naturally deployed vertically. The disc type transducer 20 can radiate middle and low frequency sound signals horizontally and omnidirectionally in water, and the disc type transducer 20 can adopt a slip ring adapter, so that the bearing cable 24 can be prevented from being twisted and collapsing when the disc type transducer 20 is wound and unwound.

Wherein before the receiving bracket works, each receiving arm 22 can be folded and stored together around the central rod 21 and then placed in a receiving and storing place; when the receiving bracket works, the receiving bracket falls off from the outer wall of the acoustic buoy 100, can be installed at the bottom of the disc type transducer 20, and is unfolded to form a polygonal spoke shape or a multi-layer circular ring shape along with the synchronous release of the disc type transducer 20 to a set depth.

In this embodiment, the component structure of each chamber can be designed according to the aspects of buoy detection performance, device safety, stability, array retraction convenience and the like. The water surface cabin 2 can float on the water surface and is positioned at the top layer of the acoustic buoy 100, the buoyancy bag 1 can be hung on the periphery of the water surface cabin 2, and the volume of the buoyancy bag 1 can be set according to the weight and the volume of the whole acoustic buoy 100, so that the buoyancy bag 1 can provide enough buoyancy for the whole acoustic buoy 100; the generator 3, the charger 7, the starting battery 6 and the top electronic unit 5 can be installed in the water surface cabin 2, and the air inlet pipe 8 and the air outlet pipe 9 of the generator 3 can be exposed out of the water surface, so that the water surface cabin 2 forms a watertight cabin. The fuel tank 10 can be arranged below the water surface tank 2, a replaceable and replenishable fuel package 11 is contained in the fuel tank 10, and the fuel package 11 is connected to the generator 3 in the water surface tank 2 through a fuel pipeline. A cable car compartment 12 may be provided below the fuel compartment 10, the cable car compartment 12 containing a winch 13 and a load bearing cable 24. The bottom chamber 14 is arranged below the cable car chamber 12 and is the bottom layer of the acoustic buoy 100, the disc type transducer 20, the power amplifier 15, the energy supply battery 16, the hydrophone 25, the orthomorphic auxiliary cable 26 and the bottom layer electronic unit 19 are contained in the bottom chamber 14, and the orthomorphic auxiliary cable 26 can enhance the service performance of the whole acoustic buoy 100.

In some embodiments, as shown in fig. 9, the control system 102 includes a top electronic unit 5 and a bottom electronic unit 19 connected by signals, the top electronic unit 5 performs data transmission with the outside through the communication system 4 and issues a control command; the bottom layer electronic unit 19 is in signal connection with the signal receiving mechanism 106 of the signal transceiving system 101. It can be understood that the echo signal received in the signal receiving mechanism 106 can be transmitted to the receiver in the bottom electronic unit 19 for processing, the control system 102 can transmit the processed detection result to the top electronic unit 5, and the top electronic unit 5 wirelessly transmits the processed detection result to the external terminal through the communication system 4 for comprehensive processing, thereby ensuring the stability of signal transmission. In addition, the top layer electronic unit 5 and the bottom layer electronic unit 19 are respectively provided with a top layer unit cell and a bottom layer unit cell, so that the complexity of power supply circuit connection of the acoustic buoy can be reduced. The bottom end of the bottom layer electronic unit 19 can be provided with a sinking block 23, so that the bottom layer electronic unit 19 can move more stably.

In some embodiments, the signal receiving mechanism 106 further includes a positioning adjustment module, which is configured to position and adjust the attitude of the signal receiving mechanism 106, specifically, the positioning adjustment module includes a precision compass, an attitude sensor, and a driving device, the precision compass and the attitude sensor are mounted on the receiving bracket, the position coordinates of the receiving mechanism of the acoustic buoy 100 are obtained through the precision compass, and the attitude sensor can obtain the attitude of each receiving arm 22 of the receiving bracket, and resolve the position and the attitude of the buoy, so that the real position of the detected object can be accurately obtained. The driving device can also drive the receiving arm 22 to move according to the control instruction, thereby realizing the posture adjustment of the receiving array 18.

In some embodiments, after the control mechanism obtains the position coordinates of the receiving mechanism through the positioning adjustment module, the control mechanism may analyze the position coordinates together with the received target information, optimize the target detection strategy, and adjust the corresponding control parameters according to the optimized target detection strategy.

The utility model provides an acoustic buoy 100 during operation, when using, transport equipment such as aircraft or ships transports acoustic buoy 100 to appointed sea area and puts in, acoustic buoy 100 after putting in and expanding can float at appointed sea through buoyancy module 1 to can realize through communication system 4 with outside user's data communication, outside user can be user or bank control cabinet, also can be other remote terminal, this application does not do the restriction here.

After the acoustic buoy 100 floats at the designated position, the control system 102 controls the deepening mechanism 104 to release the cables, the receiving array 18 and the transmitting array 17 are respectively released from the receiving storage position and the transmitting storage position, and the water depth position of the receiving array 18 and the transmitting array 17 is adjusted along with the retraction and release of the bearing cable 24.

The information interaction between the acoustic buoy 100 and the outside can be classified into input and output. The input information comprises control instructions of starting up, shutting down, deepening, changing signals, removing a storage battery pack, self-destruction and the like. The acoustic buoy 100 may receive external control commands via the communication system 4 and respond or further distribute control information to other systems via the units of the top level electronics unit 5. The output information comprises detection results of the target position (or direction, distance), speed, type, threat level and the like and the current state of the acoustic buoy 100, including state monitoring information of the depth of the transmitting array 17 and the receiving array 18, the temperature and the electric quantity of the energy supply battery, the fuel residual quantity, the position and the like.

The top level electronics unit 5 aggregates the information from the various components and then transmits it back to the external user via the communications system 4. The user can analyze information such as sea area environment data, target information and the like, a reasonable detection strategy script is made as a preset detection strategy before the acoustic buoy 100 works according to an analysis result and is preset in the top electronic unit 5, and the optimized target detection strategy is generated by a detection strategy module in the top electronic unit 5 through sound field modeling and sonar efficiency evaluation based on a field environment and a user remote control instruction. The underwater object search is automatically performed according to this strategy during the acoustic buoy 100 attendance.

As shown in fig. 10, in some embodiments, the present application further provides a detection method using a variable depth active detection acoustic buoy 100, comprising the steps of:

s1, providing information data and a remote control instruction to the control system;

s2, the control system forms a target detection strategy and sends out a control instruction according to the target detection strategy;

s3, the deepening mechanism drives the signal receiving and transmitting system to a preset depth, and a signal transmitting mechanism of the signal receiving and transmitting system sends out a detection sound signal according to preset parameters;

and S4, the signal receiving mechanism receives the echo signal and transmits the echo signal to the control system.

In some embodiments, the information includes marine environment information including environmental parameters of the sea area where the acoustic buoy 100 is located, such as water depth, water bottom landform, storm parameters, and suspicious target information; the suspicious target intelligence includes one or more of a suspicious target location, a suspicious target type, a suspicious target threat level. The remote control instruction information includes instructions of the acoustic buoy 100 such as power on, power off, depth changing (changing the depth of the transmitting array 17 and the receiving array 18), signal changing (changing the type/frequency band/bandwidth/pulse width of a transmitting signal, transmitting interval, transmitting power, transmitting direction and the like), starting transmitting, stopping transmitting, removing a storage battery pack, self-destruction and the like, and is used for controlling the transmitting signal, the posture and the working state of the acoustic buoy 100.

In some embodiments, the informative information further comprises: state information of the acoustic buoy 100, the state information of the acoustic buoy 100 including one or more of a geographic location of the acoustic buoy 100, a receiving array 18 attitude, and a drift velocity. Here, the state information of the acoustic buoy 100 is positioning calibration data transmitted from an external positioning system such as a satellite or a base station, and is used by the positioning module, and the positioning module calculates the geographic position and drift velocity information of the acoustic buoy 100 according to the positioning calibration data, and transmits the information to the top layer electronic unit 5 and the bottom layer electronic unit 19.

The emission control of the detection acoustic signal is that a top layer electronic unit 5 generates a multi-channel emission signal, the multi-channel emission signal is sent to a power amplifier 15 along with control information, the multi-channel emission signal is amplified by the power amplifier 15 according to the set power and then sent to an emission array 17, and the emission array 17 performs electro-acoustic conversion on the acoustic signal radiated into water according to the designated vertical beam control (horizontal omnidirectional beam-free control). The multichannel transmitting signal is derived from a single-channel basic transmitting waveform, the number of channels is the same as the number of array elements of a transmitting array 17, and the time delay difference of each channel is determined according to vertical beam control calculation.

In some embodiments, the target detection strategies include a depth strategy, a signal-varying strategy, and an attitude-varying strategy; the control system 102 sends a deepening control instruction to the deepening mechanism 104 based on the deepening strategy, sends a variable signal instruction to the signal transmitting mechanism 105 based on the variable signal strategy, and sends an attitude adjusting instruction to the signal receiving mechanism 106 based on the variable attitude strategy, wherein the variable signal instruction comprises a waveform transmitting instruction and a transmitting start-stop instruction. The transmitting waveform instruction comprises transmitting signal type, frequency band, bandwidth, pulse width, transmitting interval, transmitting power, transmitting direction and the like; transmitting the start-stop instruction includes starting transmission and stopping transmission.

In some embodiments, the forming of the target detection strategy in step S2 is an automatic optimization process, which is specifically divided into three parts:

t1. Policy generation section. The target detection strategy comprises two aspects of signal variation and depth variation, and the establishment of the optimal strategy is essentially the optimization of sonar emission and array depth related working parameter setting and flow control, so that the sonar working parameter optimizing component is a core component for generating the target detection strategy. The input of the component comprises preset parameter setting obtained through a preset strategy, remote control parameter setting obtained through a user remote control instruction and parameter adjustment under sonar performance inspection. The temporary outputs comprise a series of emission and array depth parameters such as emission array depth, receiving array depth, emission pointing and beam control, receiving pointing and beam control, emission power or source level, emission signal type, emission frequency band and bandwidth, emission pulse width and interval and the like, and the temporary outputs are used as equipment condition input of a sound field modeling part. And the optimized and adjusted parameters are used as final output of the component, enter a target detection strategy generation component and are matched with a time sequence flow to form a final target detection strategy, wherein the final target detection strategy comprises three types of information, namely emission waveform information, emission control instructions and deepening instructions.

T2. Sound field modeling section. The core component of the part is diversified acoustic propagation effect modeling, and is one of the characteristic functional embodiments of the acoustic buoy, and one or more of multiple acoustic propagation effects such as direct sound path, deep sea sound channel, first convergence region, reliable sound path, seabed reflection and the like are selected to be presented according to input emission, array depth, environment and target conditions to perform underwater sound field modeling, including corresponding sea surface scattering, seabed scattering, target scattering and environmental noise modeling. There are three types of input parameters: firstly, transmitting signals, receiving and transmitting array depth and receiving and transmitting pointing parameters temporarily output by a sonar working parameter optimizing component in T1; the marine environment information transmitted by presetting or remote control comprises sea surface parameters (sea conditions, wave heights, sea surface scattering coefficients and the like), seabed parameters (bottom material types, layering and seabed scattering coefficients), sea depths, seabed topography, sound velocity profiles, mesoscale flow parameters, background noise levels and the like; and thirdly, presetting or remotely controlling transmitted marine target information, including the type, position, dimension, speed and the like of the sea surface large target and the underwater suspicious target. The sound field modeling result, i.e., the final output of the component, will enter the performance prediction section.

And T3, a performance forecasting part. Based on sound field modeling, a series of calculations such as propagation loss prediction, reverberation level prediction, sonar operating distance prediction, sonar detection probability estimation, seabed clutter intensity and highlight structure prediction, target intensity and highlight structure prediction and the like are carried out, the detection range and detection probability of the sonar under the current working parameters and sound propagation path are evaluated to judge whether the sonar achieves the best performance and possible parameter setting improvement, the sonar working parameter optimizing component in T1 is fed back, and a new round of 'parameter setting → sound field modeling → performance prediction' process is carried out. This loop is repeated until a parameter setting scheme is obtained that meets the performance requirements.

In addition, in some embodiments, the target echo and background interference characteristic forecast can also be provided by using the mathematical model and detection parameters established in the target detection strategy optimizing link. The target echo and background interference characteristic forecast refers to modeling and forecasting of target echo and background interference characteristics: and based on sound field modeling and various parameter calculation in sonar performance prediction, space-time-frequency feature description of signals such as target echoes, reverberation, seabed clutter and the like in a current sonar working mode, which is matched with target and environment information, is physically or numerically given. Theoretically, under the optimized sonar working parameters, target detection is carried out according to strategies, and target echo signals and background interference signals in the received signals should have the characteristics which are identical with the forecast. This feature prediction is therefore an important basis for the subsequent implementation of signal processing adapted to the environment and to the target.

The bottom electronic unit 19 can perform high-resolution spatial filtering processing on input data and received information and perform clutter rejection processing by combining environmental information, the bottom electronic unit 19 performs target echo modeling according to received echo signals, and a target detection result is obtained through a series of signal and information processing such as multi-wavelet multi-channel refined matching filtering and fusion, position and array direction adaptive bright spot absolute geographic position resolving, multi-PING accumulation and contact level tracking and feedback, target scale speed and course characteristic extraction and identification and the like. The method specifically comprises the following steps:

and carrying out signal processing on the echo signals. The method comprises the following steps:

extracting effective acquisition signals from the received echo signal data according to a data transmission protocol, and performing normalization on a dynamic range and a time-space sequence to form multi-channel array element level signal data;

filtering and homogenizing multi-channel array element level signal data; including band pass filtering and scale filtering. And extracting the current transmitting frequency band and bandwidth according to the transmitting control instruction, and calculating a distance resolution element and a maximum resolution scale, thereby setting the band-pass filtering and scale filtering range and filtering the input data.

And (4) pre-homogenizing. And the homogenization treatment is designed and implemented according to the characteristics of reverberation and clutter, so that the non-stationary non-Gaussian non-whiteness of data is reduced, and the dynamic range of the data is reduced.

And (3) designing and implementing constant low sidelobe spatial filtering according to the array spread state to reduce sidelobe interference, and splitting the space into a left sub-array beam and a right sub-array beam for output.

Calculating and suppressing the Doppler frequency shift and the expansion of local reverberation in the appointed wave beam direction according to the drifting direction and speed of the acoustic buoy and the parameters of a transmitting signal; the suppression is preferably performed using a nulling filter.

And respectively generating series signal copies of the multi-wavelet multi-speed channel for the two sub-array beams according to the transmitted waveform and the target echo characteristic forecast, and then performing matched filtering on the copies one by one. The multi-wavelet includes both the combined wavelet of the combined signal and the bright point wavelet of the multi-bright point echo.

The multi-speed matching output of any wavelet corresponds to a ambiguity map, and the multiple ambiguity maps output by the multiple wavelets of any subarray wave beam are subjected to nonlinear fusion to obtain the super-resolution capability on a time-frequency joint domain;

based on the fact that a left sub-array beam and a right sub-array beam in the appointed direction are output as a main array beam after matched fusion, the main array beam is subjected to phase unit processing so as to restrain main lobe interference and obtain super-resolution capability on a space-time joint domain.

And performing post-homogenization treatment adaptive to the echo statistical characteristics after super-resolution on the total array beam according to the target echo characteristic prediction and the time-space-frequency super-resolution treatment influence, so that the false alarm can be further reduced.

Generating a detection picture according to the processing result; the method comprises the following steps:

and generating a relative detection picture. And accumulating, smoothing or resampling the post-homogenized output data into a plane image according to the effective display area under the natural coordinate system of the acoustic buoy to serve as a relative detection picture, and completely refreshing each detection PING of the relative detection picture once. The natural coordinate system of the receiving array of the acoustic buoy refers to a coordinate system constructed by relative azimuth or bulwark-distance-relative radial velocity-data intensity or amplitude.

And carrying out coordinate conversion according to the position of the acoustic buoy, the orientation of the receiving array and the attitude information of the receiving array. The disadvantage of the relative coordinate system is that the motion factors such as the drift of the buoy, the rotation and the inclination of the receiving array or the transmitting array are all taken into account, so that the real motion state of the target cannot be known. After coordinate conversion is designed and implemented according to the position of the buoy, the array direction and the array posture information, the target state can be further calibrated, and the detection precision is improved.

And taking the plane image after coordinate conversion of the relative detection picture as an absolute detection picture. Through coordinate transformation, the point on the relative detection picture is transformed into a point under a geographic position (longitude-latitude, or transverse and longitudinal displacement referring to a fixed geographic point) -absolute radial velocity-intensity coordinate system. The design is expressed as a planar image according to ergonomics, i.e. an absolute detection picture. The points on the picture have eliminated the motion effect.

And finally, processing the detection pictures accumulated by the PINGs to form a target point trace, and further automatically identifying and evaluating target attributes and threat levels to generate a target detection result. The method specifically comprises the following steps:

and (3) calculating a constant false alarm threshold, a target speed limit and a target scale limit according to target echo and background interference characteristic forecast, forming a multi-characteristic comprehensive threshold, automatically detecting data on an absolute detection picture, reserving data which pass the threshold, and nulling the rest data.

And (4) performing target point extraction and contact level tracking on the automatically detected picture data, and dynamically adjusting the weight of position and speed information in the tracking process.

And forming a target point trace according to a contact level tracking result accumulated by the multiple PINGs, performing consistency judgment on the target point trace and an underwater target motion rule, correcting the trace data according to a judgment result, returning the corrected data to recalculate the multi-feature comprehensive threshold, and repeatedly performing target point extraction and contact level tracking. The point trace data is corrected, namely, the target attribute is judged according to the consistency of the point traces and the motion rule of the underwater target, or the point traces which are lost or wrong in tracking are recovered or corrected and reconfigured according to the motion rule, the disordered point traces are abandoned, and the rule formed by stable point traces is fed back to the step to be used for correcting the speed limit or the scale limit comprehensive threshold, so that the new automatic detection with lower false alarm is formed.

And according to the accumulation of the automatic Detection and Tracking results, automatically identifying and evaluating the target attribute and the threat level to form a Detection-Location-Classification-Tracking (DLCT) result and finish autonomous Detection. DLCT results include the location, velocity, scale, type, and threat level of the target.

And finally, the target detection result is sent to an external terminal through the communication system 4.

In addition, the bottom-layer electronic unit 19 may be configured with a signal recorder capable of selectively recording the orientation and posture information of the acoustic buoy 100 during the critical time period, so that after the acoustic buoy 100 is recovered, a user can perform offline analysis on the acoustic buoy 100.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

The depth-variable active detection acoustic buoy provided by the embodiment of the application is described in detail above, a specific example is applied in the description to explain the principle and the implementation of the application, and the description of the embodiment is only used to help understand the method and the core idea of the application; meanwhile, for those skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims (10)

1. A variable depth active probing acoustic buoy comprising:

the signal receiving and transmitting system comprises a signal transmitting mechanism and a signal receiving mechanism;

the deepening mechanism is connected with the signal receiving and transmitting system and drives the signal receiving and transmitting system to deepen;

the control system is in signal connection with the signal receiving and transmitting system and the depth-varying mechanism;

the communication system is in signal connection with the control system to realize the communication between the control system and the outside;

the energy supply system supplies energy to the signal receiving and transmitting system, the deepening mechanism, the communication system and the control system;

the control system sends a control signal to the signal receiving and transmitting system and the deepening mechanism, so that the signal receiving and transmitting system sends out a detection sound signal in a set form at a set depth.

2. The variable depth active sounding acoustic buoy of claim 1, wherein the depth mechanism includes a winch, and a load bearing cable wound around the winch, the signal transceiver system being connected to an end of the load bearing cable.

3. The variable depth active sounding acoustic buoy of claim 2, wherein the signal transmission mechanism includes a signal connected power amplifier and a transmit array including a plurality of disc transducers spaced along the direction of extension of the bearing cable.

4. The variable depth active sounding acoustic buoy of claim 2, wherein the signal receiving mechanism comprises:

the receiving bracket is connected to the tail end of the bearing cable and comprises a central rod and a plurality of receiving arms surrounding the central rod, and one end of each receiving arm is movably connected with the central rod so that the receiving arms can be unfolded or folded relative to the central rod;

a plurality of hydrophones disposed on the receiving arm.

5. The variable depth active sounding acoustic buoy of claim 1, wherein the energy supply system comprises:

the fuel pocket is used for containing fuel;

the power generation module comprises a generator, and the generator is connected with the fuel oil pocket through a pipeline;

the power module, do signal transceiver system deepening the mechanism communication system and control system provides the energy, power module includes first energy supply unit and second energy supply unit, first energy supply unit with power module electric connection is used for storing the electric energy that power module produced.

6. The variable depth active sounding acoustic buoy of claim 5, wherein the first energy supply unit comprises:

a battery pack including a plurality of batteries;

a packaging box for accommodating the battery pack;

the battery safety control module comprises a processing unit and a monitoring unit, the monitoring unit is used for monitoring one or more of the pressure of the packaging box, the liquid level of the packaging box, the temperature of the battery and the electric quantity of the battery and transmitting the monitoring result to the processing unit, and the processing unit reports fault alarm information to the control system and carries out fault processing according to a fault processing instruction sent by the control system.

7. The variable depth active probing acoustic buoy of claim 6 wherein the output power of the first energy supply unit is greater than the output power of the second energy supply unit.

8. The variable depth active probing acoustic buoy of claim 6 or 7, wherein the fault handling instructions comprise a conventional fault handling and/or battery pack release, the conventional fault handling comprising one or more of a cooling process, a pressure relief process, and a liquid discharge process.

9. The acoustic buoy for variable depth active sounding of claim 1, wherein the control system generates a target sounding strategy according to information data and remote control commands provided from outside, issues control commands according to the target sounding strategy, and performs data processing on echo signals received by the signal receiving mechanism according to target echo and background interference characteristic forecast provided by the target sounding strategy.

10. The variable depth active sounding acoustic buoy of claim 9, wherein the target sounding strategies include a depth strategy, a signal-varying strategy, and an attitude-varying strategy; the control system sends a depth control instruction to the depth mechanism based on the depth strategy, sends a variable signal instruction to the signal transmitting mechanism based on the variable signal strategy, and sends an attitude adjusting instruction to the signal receiving mechanism based on the variable attitude strategy, wherein the variable signal instruction comprises a transmitted waveform instruction and a transmitted start-stop instruction.

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