CN115201745A - A deep seabed fixed beacon and navigation device - Google Patents

Abstract

A fixed beacon and navigation device for a deep and far seabed comprises a radioactive isotope battery, a micro-energy intelligent management circuit, a lithium battery and an acoustoelectric transducer. The radioactive isotope battery converts the radiation energy of the radioactive isotope into electric energy through a radiant volt effect/a radiant photovoltaic effect or a semiconductor thermoelectric conversion effect or the like; the micro-energy intelligent management circuit controls the energy collection of the radioisotope battery, the charging and discharging of the lithium battery and the switch of the acoustoelectric transducer, effectively collects and utilizes weak electric energy of the radioisotope battery to charge the lithium battery, and also solves the problem of large instantaneous power required by the acoustoelectric transducer to work. The acoustoelectric transducer comprises a signal receiver and a signal transmitter, the signal receiver converts external specific signals into electric signals, and the signal transmitter transmits acoustic signals containing position information to the outside subsequently, so that an accurate positioning and navigation function is provided for an unmanned underwater vehicle sailing at long distance, and the seabed is prevented from being lost due to position loss.

Description

A deep seabed fixed beacon and navigation device

technical field

The invention relates to the field of far-reaching seabed sensor network nodes, in particular to a far-reaching seabed fixed beacon and a navigation device, which can provide accurate positioning and navigation functions for underwater unmanned vehicles.

Background technique

Unmanned underwater vehicles refer to unmanned intelligent weapons and equipment platforms that can be used for reconnaissance, remote mine hunting and combat, and autonomous navigation underwater. Using unmanned underwater vehicles can be used for network exploration and underwater battlefield intelligence preparation. , underwater battlefield presets, battlefield surveillance analysis, battlefield perception propagation, underwater underwater acoustic confrontation, etc., which will play an important role in future underwater warfare. Satellite positioning systems such as the Global Positioning System and the Beidou Satellite Navigation System can achieve precise positioning of land and sea equipment through electromagnetic waves. However, seawater has a strong absorption effect on electromagnetic waves, and these systems cannot be used for the positioning of underwater unmanned vehicles.

In order to avoid losing its position on the seabed due to sailing too far, it is necessary to build a far-reaching sea beacon and navigation station. However, the deep-sea field has the characteristics of unattended, inconvenient maintenance and harsh environment. Therefore, the sensing monitoring, communication and navigation, early warning and other equipment used in these fields put forward long-term maintenance-free, small size, and high integration requirements for energy. . Sunlight cannot reach hundreds of meters underwater, which cannot meet the application requirements; ocean energy and temperature difference energy are very weak and difficult to obtain in hundreds of meters underwater, and also cannot meet the application requirements; chemical fuel energy needs regular maintenance and replacement, It also cannot meet the application requirements. Therefore, conventional energy methods such as solar energy, chemical fuel energy, ocean energy, and temperature difference energy cannot meet the power supply of deep-sea beacons and navigation equipment due to problems such as short life, maintenance, environmental impact, and large volume and weight. need.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the deficiencies of the prior art and provide a deep seabed fixed beacon and navigation device to solve the problem that the underwater unmanned vehicle loses its position signal and is lost on the seabed when it performs tasks on the seabed.

In order to solve the above-mentioned technical problems, the technical scheme of the present invention is:

A far-reaching submarine fixed beacon and navigation device, comprising: radioisotope battery, cable, micro-energy intelligent management circuit, lithium battery and acoustic-electric transducer;

The radioisotope battery, the micro-energy intelligent management circuit, the lithium battery and the signal transmitter are connected by cables, and the radioisotope battery is used as the energy source to charge the lithium battery;

The micro-energy intelligent management circuit controls the energy collection of the radioisotope battery, the charging and discharging of the lithium battery, and the switch of the acoustic-electric transducer; the acoustic-electric transducer receives the positioning demand information sent by the passing unmanned underwater vehicle, and feeds back the position through the sound wave. information to provide location information for unmanned underwater vehicles.

Further, it also includes a deep-sea sealed chamber, and radioisotope batteries, cables, micro-energy intelligent management circuits, lithium batteries and acoustic-electric transducers are all arranged inside the deep-sea sealed chamber and sealed; the acoustic and electrical transducers include signal The transmitter and the signal receiver; the signal transmitter and the signal receiver are protruded from the reserved hole on the side wall of the deep-sea sealed chamber for receiving and transmitting signals, and the signal transmitter and the signal receiver are between the deep-sea sealed chamber seal.

Further, the acousto-electric transducer will only work when receiving the positioning demand signal from the nearby underwater unmanned vehicle that needs to be positioned, and feedback the position information through sound waves.

Further, the radioisotope battery includes one or more of the isotope batteries based on radiation volt effect, radiation photovoltaic effect, and semiconductor temperature difference effect; the radioisotope battery adopts anti-radiation shielding measures.

Further, the deep-sea sealed chamber is a sealed chamber made of corrosion-resistant metal or alloy to ensure that the interior of the chamber is not eroded by seawater.

Further, the micro-energy intelligent management circuit includes a micro-energy collector, a signal detection unit, a maximum power point tracking control unit, a charging management unit, a discharge management controller and a boost converter;

The micro-energy collector is used to collect the electrical energy output by the radioisotope battery; the signal detection unit monitors the current, voltage and temperature of the radioisotope battery and lithium battery in real time to judge the system working mode;

The maximum power point tracking control unit regulates the electrical energy collected by the micro-energy harvester according to the signal of the signal detection unit, so as to adjust the radioisotope battery to be in the maximum power state; the charging management unit uses the regulated power according to the signal of the signal detection unit. The electric energy charges the lithium battery; the discharge management controller controls the system to work in the silent mode or the working mode according to the signal of the signal detection unit; energy.

Further, the silent mode refers to the state when the deep-sea fixed beacon and the navigation device do not receive the positioning demand signal. At this time, the radioisotope battery is charging the lithium battery. If the lithium battery is fully charged, the radioisotope battery generates electricity. Dissipated through the discharge management controller.

The working mode refers to the state after the deep seabed fixed beacon and navigation device receive the positioning demand signal. At this time, the lithium battery supplies power to the acoustic-electric transducer, and the signal transmitter of the acoustic-electric transducer transmits the special signal according to the activation command. sent out in the form of ultrasound.

Further, the lithium battery is regulated by the active lithium of the negative electrode, and the external lithium source is pre-stored in the negative electrode to make the negative electrode lithium excess, so that the negative electrode is supplemented with lithium; a conductive agent is used to improve the conductivity of the positive electrode and improve the rate performance of the battery; the negative electrode is a graphite material. , without adding additional conductive agent.

Further, the acousto-electric transducer adopts an overflow circular tube transducer to realize half-space emission; the ring of the overflow circular tube transducer is made by inlaying the method to reduce the output voltage of the power amplifier; the acoustic-electric transducer The signal propagation distance is greater than 1000m.

Further, when the underwater unmanned vehicle sneaks to the vicinity of a certain deep seabed fixed beacon and navigation device, a positioning demand signal is sent, and the positioning demand signal is an ultrasonic signal;

The signal receiver of the acoustic-electric transducer includes a preamplifier, a lock-in amplifier and a power amplifier. The signal receiver converts the received ultrasonic signal into an electrical signal, and compiles it into an activation command for the signal transmitter, and triggers the charging management unit at the same time. Control and activate the lithium battery to supply short-term high-power power for the acoustic-electric transducer; the signal transmitter of the acoustic-electric transducer converts the information, including the position of the deep seabed fixed beacon and the navigation device, into electrical signals according to the activation command. The acoustic signal is sent out in the form of ultrasonic waves;

The external unmanned underwater vehicle receives the relevant information, amplifies the signal and transmits it to the measurement circuit for recording or display, and can get its own underwater position by analyzing the signal.

The beneficial effects brought by the present invention compared with the prior art are:

(1) The radioisotope cell provided by the present invention converts the radiant energy of the radioisotope into electrical energy through the radiation volt effect/radiation photovoltaic effect or the semiconductor thermoelectric conversion effect, etc.;

(2) The present invention controls the energy collection of the radioisotope battery, the charging and discharging of the long-life lithium battery, and the switch of the acoustic-electric transducer through the micro-energy intelligent management circuit. Battery charging, on the other hand, solves the problem of large instantaneous power required for the operation of the acoustic-electric transducer.

(3) The acoustic-electric transducer provided by the present invention includes a signal receiver and a signal transmitter. The signal receiver converts external specific signals into electrical signals, which are converted into activation instructions of the signal transmitter, and then the signal transmitter transmits to the outside world. Acoustic signals with location information can provide accurate positioning and navigation functions for unmanned underwater vehicles for long-distance navigation, avoiding the loss of the seabed due to loss of position.

Description of drawings

The invention is further described below in conjunction with the accompanying drawings:

Fig. 1 is the structure diagram of the device of the present invention;

Figure 2 is a schematic diagram of a micro-energy intelligent management circuit;

Among them: 1. Radioisotope battery; 2. Cable; 3. Deep-sea sealed chamber; 4. Micro-energy intelligent management circuit; 5. Long-life lithium battery; 6. Acoustic-electric transducer; 7. Signal transmitter; 8 , Signal receiver; 9. Unmanned underwater vehicle.

Detailed ways

The deep seabed fixed beacon and navigation device proposed by the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become apparent from the following description and claims.

Radioisotope batteries have the characteristics of long life, no environmental impact, and maintenance-free, and can be an ideal power supply for sensor monitoring equipment. The isotope battery has several conversion mechanisms such as temperature difference, direct charging, radiovoltaic and radiovoltaic, etc. According to different conversion mechanisms, different radioisotopes, shielding measures and structural design are selected, and the output power can reach uW-W level, which is easy to miniaturize , integration, is an ideal energy form for sensing monitoring, communication and navigation equipment in the above fields. Using a composite energy system of radioisotope batteries and long-life lithium batteries can provide an independent integrated power source that integrates energy acquisition, electric energy conversion and storage, and solves the problem of energy supply for deep-sea beacons and navigation equipment. The incomparable advantages of traditional power supply.

As shown in FIG. 1 , the present invention proposes a deep seabed fixed beacon and navigation device, including: a radioisotope battery 1, a cable 2, a micro-energy intelligent management circuit 4, a lithium battery 5 and an acoustic-electric transducer 6;

The radioisotope battery 1, the micro-energy intelligent management circuit 4, the lithium battery 5 and the signal transmitter 7 are connected through a cable 2, and the radioisotope battery 1 is used as an energy source to charge the lithium battery 5;

The micro-energy intelligent management circuit 4 controls the energy collection of the radioisotope battery 1, the charging and discharging of the lithium battery 5, and the switch of the acoustic-electric transducer 6; the acoustic-electric transducer 6 receives the positioning request issued by the passing unmanned underwater vehicle 9 information, and feedback position information through sound waves to provide position information for the unmanned underwater vehicle 9 .

Further, the device of the present invention also includes a deep-sea sealed chamber 3, and the radioisotope battery 1, the cable 2, the micro-energy intelligent management circuit 4, the lithium battery 5 and the acoustic-electric transducer 6 are all arranged inside the deep-sea sealed chamber 3 and Sealing is achieved; the acoustic-electric transducer 6 includes a signal transmitter 7 and a signal receiver 8; the signal transmitter 7 and the signal receiver 8 protrude from a reserved hole on the side wall of the deep-sea sealed chamber 3 for receiving and transmitting signals , the signal transmitter 7 and the signal receiver 8 are sealed with the deep sea sealing chamber 3 .

Preferably, the acousto-electric transducer will work only when a positioning demand signal from the nearby underwater unmanned vehicle 9 to be positioned is received, and the position information will be fed back through sound waves. This can reduce the power consumption of the system, increase the working time of the system, and has the potential for wide application in practice.

Preferably, the radioisotope battery 1 includes one or more isotope batteries based on radiation volt effect, radiation photovoltaic effect, and semiconductor temperature difference effect; the radioisotope battery 1 adopts anti-radiation shielding measures.

Preferably, the deep-sea sealed chamber 3 is a sealed chamber made of corrosion-resistant metal or alloy to ensure that the interior of the chamber is not eroded by seawater.

As shown in FIG. 2, the micro-energy intelligent management circuit 4 of the present invention includes a micro-energy collector, a signal detection unit, a maximum power point tracking control unit, a charging management unit, a discharge management controller and a boost converter;

The micro-energy collector is used to collect the electric energy output by the radioisotope battery 1; the signal detection unit monitors the current, voltage and temperature of the radioisotope battery 1 and the lithium battery 5 in real time to judge the system working mode;

The maximum power point tracking control unit (MPPT control unit) adjusts the radioisotope battery 1 to be in the maximum power state according to the signal of the signal detection unit; the charging management unit controls the charging process of the lithium battery 5 according to the signal of the signal detection unit to prevent overcharging; discharge management The controller controls the system to work in silent mode or working mode according to the signal of the signal detection unit; the boost converter converts the power supply bus into the energy required for power supply of the acoustic-electric transducer according to the back-end load demand.

The silent mode refers to the state when the deep-sea fixed beacon and the navigation device do not receive the positioning demand signal. At this time, the radioisotope battery 1 is charging the lithium battery 5. If the lithium battery 5 is fully charged, the radioisotope battery 1 will generate Power is dissipated through the discharge management controller.

The working mode refers to the state in which the deep-sea fixed beacon and navigation device receive the positioning demand signal. At this time, the lithium battery 5 supplies power to the acoustic-electric transducer 6, and the signal transmitter 7 of the acoustic-electric transducer 6 is activated according to the activation instruction. , which sends out special signals in the form of ultrasonic waves.

Preferably, the long-life lithium battery has a lifespan of ≥10 years. Lithium battery 5 is regulated by the active lithium of the negative electrode, and the external lithium source is pre-stored in the negative electrode to make the negative electrode lithium excessive, so as to realize the negative electrode lithium supplementation; the conductive agent is used to improve the conductivity of the positive electrode and improve the rate performance of the battery; the negative electrode is made of graphite material, and no extra is added. Conductive agent.

Preferably, the acousto-electric transducer 6 adopts an overflow circular tube transducer to realize half-space emission; the ring of the overflow circular tube transducer is made by inlaying to reduce the output voltage of the power amplifier; acoustoelectric transducer The signal propagation distance of the device 6 is greater than 1000m.

Preferably, when the underwater unmanned vehicle 9 sneaks near a certain deep seabed fixed beacon and a navigation device, a positioning demand signal is sent, and the positioning demand signal is an ultrasonic signal;

The signal receiver 8 of the acoustic-electric transducer includes a preamplifier, a lock-in amplifier and a power amplifier. The signal receiver 8 converts the received ultrasonic signal into an electrical signal, and compiles it into an activation instruction for the signal transmitter 7, and triggers the The charging management unit controls and activates the lithium battery 5 to supply power to the acoustic-electric transducer 6 with high power for a short time; the signal transmitter 7 of the acoustic-electric transducer 6 includes the position of the deep seabed fixed beacon and the navigation device according to the activation instruction. The information is converted into acoustic signals through electrical signals and sent out in the form of ultrasonic waves;

The external unmanned underwater vehicle 9 receives the relevant information, amplifies the signal and transmits it to the measurement circuit for recording or display, and can obtain its own underwater position by analyzing the signal.

Example:

Firstly, the location of the active sea area of the unmanned underwater vehicle is divided, and the distribution of the deep seabed fixed beacons and navigation devices is planned. Specific sound waves can be emitted, and these sound waves carry the positions of fixed beacons and navigation devices corresponding to the far sea floor.

When the underwater unmanned vehicle 9 sneaks to the vicinity of a certain deep seabed fixed beacon and navigation device, it sends out a positioning demand signal. The signal receiver 8 (including preamplifier, lock-in amplifier and power amplifier) of the acoustic-electric transducer converts the received ultrasonic signal into an electrical signal, and compiles it into an activation command for the signal transmitter, and triggers the logic controller to control the activation. The long-life lithium battery 5 provides short-term high-power power supply for the acoustic-electric transducer 6; the signal transmitter 7 of the acoustic-electric transducer 6 transmits the information including the position of the deep seabed fixed beacon and the navigation device according to the activation instruction. The electrical signal is converted into an acoustic signal and sent out in the form of ultrasonic waves. The external unmanned underwater vehicle 9 receives the relevant information, amplifies the signal and transmits it to the measurement circuit, and can record or display the result, and can obtain its own underwater position by analyzing the digital signal.

The connection of the micro-energy intelligent management circuit is shown in Figure 2,

The radioisotope battery 1 can continuously provide weak electrical energy output 24 hours a day. The micro-energy collector collects the electrical energy output by the radioisotope battery 1, and provides a steady stream of electrical energy for the deep seabed fixed beacons and navigation devices; the signal detection unit is responsible for the radioisotope The current, voltage, temperature and other signals of battery 1 and long-life lithium battery 5 are monitored in real time to judge the system working mode; the MPPT control unit can identify and control different irradiation intensities and temperatures to ensure the maximum real-time output of radioisotope battery 1 Power; charge management and discharge management control play a protective role, by controlling the voltage and current of the battery to prevent overvoltage, overcurrent, undercharge and overcharge; when the deep seabed fixed beacon and navigation device receive external When positioning the demand signal, the boost converter converts the voltage into the energy required for power supply of the acoustic-electric transducer 6 according to the back-end load demand, so as to provide information such as position to the external underwater unmanned vehicle 9 .

The principles and implementations of the present invention are described herein using specific examples, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention; There will be changes in the specific implementation and application scope. In conclusion, the contents of this specification should not be construed as limiting the present invention.

Claims (10)

1. A deep seafloor fixed beacon and navigation device, comprising: the system comprises a radioisotope battery (1), a cable (2), a micro-energy intelligent management circuit (4), a lithium battery (5) and an acoustoelectric transducer (6);

the radioactive isotope battery (1), the micro-energy intelligent management circuit (4), the lithium battery (5) and the signal transmitter (7) are connected through the cable (2), and the radioactive isotope battery (1) is used as an energy source to charge the lithium battery (5);

the micro-energy intelligent management circuit (4) controls the energy collection of the radioisotope battery (1), the charging and discharging of the lithium battery (5) and the switching of the acoustoelectric transducer (6); the acoustoelectric transducer (6) receives positioning demand information sent by the passing unmanned underwater vehicle (9), and feeds back position information through sound waves to provide the position information for the unmanned underwater vehicle (9).

2. The deep seafloor fixed beacon and navigation device of claim 1, wherein: the system is characterized by further comprising a deep sea sealing chamber (3), wherein the radioactive isotope battery (1), the cable (2), the micro-energy intelligent management circuit (4), the lithium battery (5) and the acoustoelectric transducer (6) are all arranged in the deep sea sealing chamber (3) and sealed; the acoustoelectric transducer (6) comprises a signal transmitter (7) and a signal receiver (8); the signal transmitter (7) and the signal receiver (8) extend out of a preformed hole on the side wall of the deep sea sealed chamber (3) and are used for receiving and transmitting signals, and the signal transmitter (7) and the signal receiver (8) are sealed with the deep sea sealed chamber (3).

3. A deep seafloor fixed beacon and navigation device as claimed in claim 1 or 2, wherein: when a positioning demand signal sent by an underwater unmanned vehicle (9) needing to be positioned nearby is received, the acoustoelectric transducer works and feeds back position information through sound waves.

4. The deep seafloor fixed beacon and navigation device of claim 1 or 2, wherein: the radioactive isotope battery (1) comprises one or more isotope batteries based on a radiation volt effect, a radiation photovoltaic effect and a semiconductor temperature difference effect; the radioisotope battery (1) takes radiation-resistant shielding measures.

5. The deep seafloor fixed beacon and navigation device of claim 2, wherein: the deep sea sealed cavity (3) is a sealed cavity made of corrosion-resistant metal or alloy, and the inside of the cavity is guaranteed not to be corroded by seawater.

6. A deep seafloor fixed beacon and navigation device as claimed in claim 1 or 2, wherein: the micro-energy intelligent management circuit (4) comprises a micro-energy collector, a signal detection unit, a maximum power point tracking control unit, a charging management unit, a discharging management controller and a boost converter;

the micro energy collector is used for collecting electric energy output by the radioisotope battery (1); the signal detection unit monitors signals such as current, voltage and temperature of the radioisotope battery (1) and the lithium battery (5) in real time to judge the working mode of the system;

the maximum power point tracking control unit regulates and controls the electric energy collected by the micro-energy collector according to the signal of the signal detection unit, so that the radioisotope battery (1) is regulated to be in a maximum power state; the charging management unit charges the lithium battery (5) by using the regulated and controlled electric energy according to the signal of the signal detection unit; the discharge management controller controls the system to work in a silent mode or a working mode according to the signal of the signal detection unit; and the boost converter converts the power supply bus into energy required by the power supply of the acoustoelectric transducer according to the requirement of the rear-end load.

7. The deep seafloor fixed beacon and navigation device of claim 6, wherein: the silent mode refers to: when the deep and far seabed fixed beacon and the navigation device do not receive the positioning demand signal, the radioactive isotope battery (1) charges the lithium battery (5), and if the lithium battery (5) is fully charged, the electric energy generated by the radioactive isotope battery (1) is dissipated through the discharge management controller;

the working mode is as follows: and after the beacon and the navigation device are fixed on the deep and far seabed and receive the positioning demand signal, the lithium battery (5) supplies power to the acoustoelectric transducer (6), and the signal transmitter (7) of the acoustoelectric transducer (6) sends out the signal in an ultrasonic mode according to the activation instruction.

8. The deep seafloor fixed beacon and navigation device of claim 1 or 2, wherein: the lithium battery (5) is regulated and controlled by negative active lithium, an external lithium source is stored in the negative electrode in advance, so that the negative lithium is excessive, and the negative lithium supplement is realized; the conductivity of the positive electrode is improved by adopting the conductive agent, and the rate capability of the battery is improved; the negative electrode is made of graphite material, and no additional conductive agent is added.

9. The deep seafloor fixed beacon and navigation device of claim 1 or 2, wherein: the acoustoelectric transducer (6) adopts an overflow circular tube transducer to realize half-space emission; the circular ring of the overflow circular tube transducer is manufactured in an inlaying mode, so that the output voltage of a power amplifier is reduced; the signal propagation distance of the acoustoelectric transducer (6) is more than 1000m.

10. The deep seafloor fixed beacon and navigation device of claim 2, wherein: when an underwater unmanned carrier (9) submerges to the position near a certain deep seabed fixed beacon and a navigation device, a positioning demand signal is sent out and is an ultrasonic signal;

the signal receiver (8) of the acoustoelectric transducer comprises a preamplifier, a phase-locked amplifier and a power amplifier, the signal receiver (8) converts the received ultrasonic signals into electric signals and compiles the electric signals into an activation instruction of the signal transmitter (7), and simultaneously triggers the charging management unit to control the activation of the lithium battery (5) to supply power for the acoustoelectric transducer (6) in a short time and in a high power; a signal transmitter (7) of the acoustoelectric transducer (6) converts information including the positions of the deep and far seabed fixed beacon and the navigation device into an acoustic signal through an electric signal according to an activation instruction, and sends the acoustic signal in an ultrasonic form;

the external unmanned underwater vehicle (9) receives the relevant information, amplifies and transmits the signal to the measuring circuit, records or displays the signal, and obtains the position of the vehicle under water by analyzing the signal.

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