CN117135732B - Awakening system based on diving equipment - Google Patents
Awakening system based on diving equipment Download PDFInfo
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- CN117135732B CN117135732B CN202311097033.8A CN202311097033A CN117135732B CN 117135732 B CN117135732 B CN 117135732B CN 202311097033 A CN202311097033 A CN 202311097033A CN 117135732 B CN117135732 B CN 117135732B
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- 230000009189 diving Effects 0.000 title claims abstract description 95
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 19
- 230000004044 response Effects 0.000 claims abstract description 17
- 230000002618 waking effect Effects 0.000 claims abstract description 16
- 238000004873 anchoring Methods 0.000 claims abstract description 15
- 230000007704 transition Effects 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 10
- 238000012790 confirmation Methods 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
- 239000013535 sea water Substances 0.000 claims description 3
- 230000007797 corrosion Effects 0.000 claims description 2
- 238000005260 corrosion Methods 0.000 claims description 2
- 229920002748 Basalt fiber Polymers 0.000 description 4
- 239000002131 composite material Substances 0.000 description 4
- 239000000446 fuel Substances 0.000 description 4
- 238000011835 investigation Methods 0.000 description 4
- 238000004146 energy storage Methods 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000002592 echocardiography Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
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- 238000013507 mapping Methods 0.000 description 1
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- 239000013049 sediment Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B11/00—Transmission systems employing sonic, ultrasonic or infrasonic waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/02—Power saving arrangements
- H04W52/0209—Power saving arrangements in terminal devices
- H04W52/0225—Power saving arrangements in terminal devices using monitoring of external events, e.g. the presence of a signal
- H04W52/0229—Power saving arrangements in terminal devices using monitoring of external events, e.g. the presence of a signal where the received signal is a wanted signal
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
- H04W84/10—Small scale networks; Flat hierarchical networks
- H04W84/12—WLAN [Wireless Local Area Networks]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a wake-up system based on a submarine device, and relates to the technical field of ocean engineering. Wherein, this system includes: the electromagnetic wave ringing awakening module is used for receiving a tour wireless signal with set frequency sent by the preprogrammed water craft and awakening the first diving equipment in response to the received tour wireless signal; the passive sonar wake-up module is used for receiving a ship shell sonar signal sent by the first ship and waking up the first submarine equipment in response to the received ship shell sonar signal; the passive sonar wake-up module is further used for receiving a towing sonar signal sent by the carrying platform and waking up the first diving equipment in response to the received towing sonar signal; and the anchoring module is connected with the first diving equipment and is used for anchoring the first diving equipment on the seabed. The technical problem of lower wake-up efficiency of the underwater equipment is solved.
Description
Technical Field
The invention relates to the technical field of ocean engineering, in particular to a wake-up system based on a submarine equipment.
Background
In recent years, with the development of ocean resources, the submarine equipment is widely paid attention to in various countries, and is being studied more and more intensively. Underwater diving equipment has been widely used in the fields of business, science and the like, including geophysical field investigation, high-resolution high-speed submarine mapping imaging, marine geological investigation, marine environment monitoring, survey sampling of submarine organisms and mineral resources, marine engineering maintenance, small-sized sediment salvage and the like. At present, no more perfect system for waking up the underwater diving equipment exists for the underwater diving equipment with the functions of submarine resource investigation, engineering investigation, deep sea anchoring, dynamic positioning, task execution and the like, so that the automatic waking up of the underwater diving equipment cannot be realized, and the waking up efficiency of the underwater diving equipment is lower.
Therefore, the technical problem of lower wake-up efficiency of the diving equipment exists in the prior art.
Disclosure of Invention
The invention aims to provide a wake-up system based on a diving equipment so as to solve the problems.
The invention provides a wake-up system based on a diving equipment, which comprises: the electromagnetic wave ringing wake-up module is used for receiving a tour wireless signal with set frequency sent by a preprogrammed water craft and waking up first diving equipment in response to the received tour wireless signal, wherein the set frequency is lower than the preset frequency, the first diving equipment is anchored at a first preset depth, and the preprogrammed water craft flies above an anchor sea area according to a first preset route; the passive sonar wake-up module is used for receiving a ship shell sonar signal sent by a first ship and waking up the first underwater equipment in response to the received ship shell sonar signal, wherein the first underwater equipment is anchored at a second preset depth, and the first preset depth is smaller than or equal to the second preset depth; the passive sonar wake-up module is further configured to receive a towing sonar signal sent by the carrier platform, and wake up the first submerging device in response to the received towing sonar signal, where the first submerging device is anchored at the second preset depth; the anchoring module is connected with the first diving equipment and used for anchoring the first diving equipment on a seabed, wherein the first diving equipment can float upwards after the first diving equipment in a first state is awakened; wherein if the submersible device is anchored to the seabed, the submersible device is in the first state; and when the diving equipment is awakened, the diving equipment is in a second state.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the awakening system based on the underwater navigation equipment can be combined with the electromagnetic wave ringing awakening module, the passive sonar awakening module and the anchoring module to realize automatic awakening of the underwater navigation equipment, and can improve the awakening efficiency of the underwater navigation equipment.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention. In the drawings:
FIG. 1 is a block diagram of an alternative submersible based wake system according to an embodiment of the present application;
FIG. 2 is a schematic illustration of an alternative scenario for waking up a first submersible device according to an embodiment of the present application;
FIG. 3 is a schematic illustration of a scenario in which a first navigational device is alternatively woken up according to an embodiment of the present application;
FIG. 4 is a schematic illustration of a scenario in which a first navigational device is woken up in accordance with yet another alternative embodiment of the present application;
fig. 5 is a schematic diagram of an optional first submersible device floating up after being awakened according to an embodiment of the application.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention. It should be noted that the present invention is already in a practical development and use stage.
Optionally, as shown in fig. 1, the wake-up system based on the submarine equipment provided in the application includes:
an electromagnetic wave ringing wake-up module 101, configured to receive a tour wireless signal with a set frequency sent by a preprogrammed water craft, and wake up a first diving device in response to the received tour wireless signal, where the set frequency is lower than a preset frequency, the first diving device is anchored at a first preset depth, and the preprogrammed water craft flies according to a first preset route above an anchor ground sea area;
in some embodiments of the present application, the tour wireless signal may also be referred to as a regional tour wake-up sonar signal, the preset frequency may include, but is not limited to, 3 kilohertz, 5 kilohertz, etc., and the first preset depth may be less than or equal to 600 meters, for example, the first preset depth may be 500 meters from the sea surface (also referred to as 500 meters below the sea surface). The preprogrammed water craft may comprise one or more craft.
The submersible device may be deployed in a manner to a sea area within a certain range outside a certain port (e.g., within a thousand kilometers), which is merely an example, and the present embodiment is not limited in any way. In a specific embodiment of the present application, the anchoring depth of the submersible device may be set according to ocean topography, ocean current distribution, etc. Illustratively, the diving equipment can be launched by a fishing boat, a ship or the like after being sent to a sea area, automatically submerged to a position 500 meters away from the sea surface and anchored on the seabed through an anchoring module, wherein the 500 meters are only examples, and the embodiment is not limited in any way.
Taking the preset frequency of 3 khz as an example, as shown in fig. 2, the preprogrammed water craft 201 may fly above the anchor sea area according to a first predetermined route and send a 2 khz regional cruising wake-up sonar signal, and the electromagnetic wave ringing wake-up module included in the first underwater device 202 may wake up the first underwater device 202 in response to the signal after receiving the regional cruising wake-up sonar signal.
The specific value of the preset frequency and the first preset depth is not limited in this embodiment.
The passive sonar wake-up module 102 is configured to receive a hull sonar signal sent by a first vessel, and wake up a first submerging device in response to the received hull sonar signal, where the first submerging device is anchored at a second preset depth, and the first preset depth is less than or equal to the second preset depth;
in some embodiments of the present application, the second preset depth may be greater than or equal to 600 meters, for example, the second preset depth may be 1000 meters from the sea surface. Illustratively, as shown in FIG. 3, a first vessel 301 may transmit a vessel hull sonar signal, and a passive sonar wake module included with first submersible device 302 may receive the vessel hull sonar signal and wake first submersible device 302 in response to the signal.
In some embodiments of the present application, the transducer array of the ship hull sonar may be mounted on the hull of the first ship in a manner including, but not limited to, both lifting and stationary. Wherein, lifting type matrix. Is arranged in a purse well near the front keel of the first vessel, and is lowered into water with a depth of several meters below the vessel body through a transmission device when in operation. The fixed matrix can be arranged at different positions of the first vessel according to the tonnage of the first vessel. The transducer array of the ship shell sonar can be cylindrical or spherical, and the diameter of the array depends on ship type and installation conditions, and is 4.8 meters at maximum. Depending on the size of the matrix, the transmit frequency is typically in the range of 3.5 to 10 kilohertz and the transmit power may exceed 100 kilowatts.
The passive sonar wake-up module 102 is further configured to receive a towing sonar signal sent by the carrier platform, and wake up the first underwater device in response to the received towing sonar signal, where the first underwater device is anchored at a second preset depth;
in some embodiments of the present application, the second preset depth may be greater than or equal to 600 meters, for example, the second preset depth is 1000 meters. The delivery platform includes, but is not limited to, a second vessel, a fishing vessel, an aircraft, and a ship. Towed sonar is the sonar of a probe-side target in the water behind the tail of a carrying platform (e.g., a fishing vessel). In some embodiments, the towed sonar is typically 1-2 km long, and is not horizontally floating, but rather is inclined downwardly into the water at about 500 meters, i.e., the depth that can be reached by the anti-submarine, to avoid the thermocline and the salt-skip to better monitor ambient noise. The specific depth control can be adjusted by means of the towing speed of the anti-submarine, and the faster the speed is, the shallower the speed is.
Taking the example that the carrying platform is a fishing boat, the towed sonar signal may also be referred to as an area tour wake-up sonar signal, as shown in fig. 4, the fishing boat 401 may send the area tour wake-up sonar signal, and the passive sonar wake-up module included in the first underwater device 402 may receive the area tour wake-up sonar signal and wake up the first underwater device 402 in response to the signal.
An anchor module 103 coupled to the first submersible device for anchoring the first submersible device to the seabed.
As an alternative, when the first submersible device in the first state is woken up, the first submersible device can float up including:
when the first submerged device is awakened, the anchoring module is disconnected with the seabed so that the first submerged device can float upwards; and/or
When the first submersible device is awakened, the first submersible device is disconnected from the anchor module, so that the first submersible device can float upwards.
Illustratively, as shown in fig. 5, a first submersible device 501 is anchored to the seabed in a sea area, and an anchor module may comprise an anchor 502. When the first submersible device 501 wakes up, the submersible device 501 may be disconnected from the anchor 502 to float up to a certain depth in a sea area. Optionally, the anchoring device 502 is coated with a basalt fiber composite material.
As an alternative scheme, the passive sonar wake-up module is further configured to receive a specific sonar signal sent by the micro-sonar submarine, and wake up the first submarine device in response to the received specific sonar signal, where the micro-sonar submarine is launched by the pre-programmed submarine aircraft above the anchor sea area.
As an alternative, the wake-up system further comprises: and the active sonar wake-up module is used for actively transmitting sound waves to irradiate the target equipment and receiving echoes reflected by the target equipment in the sea so as to determine the parameters of the target equipment.
As an alternative, the wake-up system further comprises: and the collaborative wake-up module is used for waking up the first diving equipment according to a received state transition signal sent by the second diving equipment when the first diving equipment is in the first state, wherein the second diving equipment and the first diving equipment are both in a preset wireless local area network, and the state transition signal is used for indicating the second diving equipment to be transited from the first state to the second state.
In some embodiments of the present application, when the first submersible device is in the second state, the cooperative wake-up module may mask a state transition signal sent by the second submersible device in the same preset wireless lan.
Alternatively, when the first submersible device is anchored to the seabed, the first submersible device is in a first state (which may also be referred to as a standby state); when the first diving equipment is awakened, the first diving equipment is in a second state; when the second submersible device is anchored to the seabed, the second submersible device is in the first state; when the second submersible device is woken up, the second submersible device is in a second state.
In other words, the first and second submersible devices are both submersible devices, which are in a first state when anchored on the seabed; when the submersible device is woken up, the submersible device is in the second state. The submersible device may be powered by the fuel cell unit and the energy storage battery unit, and when the submersible device is in a standby state, the power supply amount of the fuel cell unit and the energy storage battery unit in unit time may be smaller than a preset power supply amount. Wherein the preset power supply amount may be, but is not limited to, 2 milliwatt hours or the like. For example, the fuel cell unit and the energy storage battery unit may maintain a milliwatt power state such that the submersible device may passively receive the wake-up signal. The milliwatt power supply state is an example, and the present embodiment is not limited thereto. When the submerging device is in the second state after being awakened, the fuel cell unit can provide submerging power for the submerging device in a preset range, so that the submerging device executes a task according to the received task, for example, submerging to a certain position.
In some embodiments of the present application, after the second submersible device wakes up, the second submersible device sends a state transition signal to other submersible devices within the preset wireless lan. The second submersible device may comprise one or more submersible devices.
In this embodiment, after the second submersible device is woken up, the state of the second submersible device may be changed from the first state to the second state. One or more of the submersible devices within the anchor ocean floor may be within a preset wireless local area network.
Waking up the first submersible device according to the received state transition signal comprises: and if the number of the state transition signals received by the first diving equipment in the unit time is larger than the preset number, waking up the first diving equipment.
In some embodiments of the present application, a unit time may include, but is not limited to, 1 day, 1 hour, 30 minutes, etc. The preset number may include, but is not limited to, 10, 2, etc.
As an alternative, the wake-up system further comprises: the communication module comprises a floating rope antenna, and is used for receiving a message sent by a preset object under the condition that the first underwater equipment floats to a preset depth so as to jointly complete a cooperative task corresponding to the message by combining other underwater equipment in a preset wireless local area network, wherein the message comprises a task instruction, a target coordinate parameter and task programming, and the other underwater equipment in the preset wireless local area network comprises a second underwater equipment.
In some embodiments of the present application, when the first submersible device floats up to a preset depth, the float rope antenna may be paid out to receive a message sent by a preset object. The communication module can respond to the received message sent by the preset object and jointly complete tasks corresponding to the message by other diving equipment in the preset wireless local area network. The message may include, among other things, a task instruction, a target coordinate parameter, and a task program. After the task instruction can be programmed by a command center, the instruction program is transmitted to the first diving equipment through a space-based satellite relay data link; the ship can also directly transmit the task instruction to the first underwater equipment after relay through the communication unmanned aerial vehicle. In some cases, the preset types of civil ships and submarines can wake up the diving equipment in the preset sea area, and a task instruction is input to command the diving equipment.
In some embodiments of the present application, the preset depth may include, but is not limited to, 20 meters, 50 meters, etc. from the sea surface, and the specific value of the preset depth is not limited in this embodiment. The preset objects may include, but are not limited to, other navigational devices, command centers, user devices, and the like. Optionally, the preset object may include a beidou short message communication module.
It can be understood that when a plurality of underwater devices in the preset wireless local area network are all awakened in unit time, the anchor sea area can be considered to need to execute a cooperative task, and at this time, if the first underwater device does not receive any signal due to damage of the passive sonar awakening module and other reasons, the cooperative awakening module included in the first underwater device can awaken the first underwater device according to the received state conversion signals sent by other underwater devices, so that the plurality of underwater devices in the combined preset wireless local area network can jointly complete the cooperative task together with the first underwater device.
Based on the embodiment provided by the application, under the condition that the passive sonar wake-up module and/or the electromagnetic wave ringing wake-up module included in the first underwater device are damaged, if the underwater device in the anchor sea area needs to execute a cooperative task, the first underwater device can still be woken up through the cooperative wake-up module. That is, the fault tolerance of the wake-up system can be increased, and the wake-up efficiency of the wake-up system can be improved.
As an alternative, the message includes a target sea area instruction and a preset mode instruction;
after the communication module receives a target sea area instruction, the first diving equipment and other diving equipment in a preset wireless local area network dive to the target sea area according to the guidance module, wherein the guidance module comprises a sonar chart, a Beidou position confirmation and correction unit and an inertial guidance unit;
when the first diving equipment and other diving equipment in the preset wireless local area network reach the target sea area, the first diving equipment and other diving equipment in the preset wireless local area network float up to a preset depth.
Alternatively, the guidance module may include a guidance module of the first pointing device and a guidance module of other pointing devices within a predetermined wireless local area network.
Alternatively, in this embodiment, the autonomous intelligent navigation mode may be started when the communication module receives the target sea area command. In the autonomous intelligent navigation mode, the first diving equipment and other diving equipment in the preset wireless local area network can autonomously dive at a certain depth of a certain sea area according to a sonar chart, a Beidou position confirmation correction unit, an inertial guidance unit and the like included in the first diving equipment. When the first submersible device and other submersible devices in the preset wireless local area network reach the target sea area, the first submersible device and other submersible devices in the preset wireless local area network can float up to a preset depth (for example, 10 meters deep) and the floating rope antenna is released. The depth of 10 meters is an example, and specific values of the preset depth are not limited in this embodiment.
As an alternative scheme, after the first diving equipment and other diving equipment in the preset wireless local area network float up to the preset depth, the first diving equipment exchanges data with a preset object through a communication module and exchanges data with other diving equipment in the same wireless local area network;
the first diving equipment and other diving equipment in a preset wireless local area network start a preset mode at a preset depth;
the first submersible device transmits the plurality of pre-programmed water craft in combination with other submersible devices in the preset wireless local area network, so that the plurality of pre-programmed water craft fly above the mission sea area according to a second preset route to observe the condition of the mission sea area.
In some embodiments of the present application, the preset mode may include, but is not limited to, an alert mode, a collaboration mode, and the like. The task sea area may be a sea area where collaborative tasks are performed.
As an alternative, the wake-up system further comprises: the pressure sensing module of the non-pressure-bearing system is used for sensing the pressure bearing of the non-pressure-bearing system included in the first diving equipment, and starting the self-destruction of the first diving equipment under the condition that the pressure bearing of the non-pressure-bearing system exceeds a preset pressure value, wherein the non-pressure-bearing system is of a seawater corrosion resistant normal pressure structure.
In some embodiments of the present application, the preset pressure value may be, but is not limited to, 1 mpa, 10 mpa, etc., and the specific values of the preset pressure value are not limited in this embodiment. Under the condition that the first underwater equipment is caught, the pressure sensing module of the non-pressure-bearing system can sense that the pressure bearing of the non-pressure-bearing system included in the first underwater equipment exceeds a preset pressure value, and under the condition, the first underwater equipment can be self-destructed to ensure the safety of the first underwater equipment and prevent relevant data from being leaked.
In some embodiments of the present application, the submersible device (including the first submersible device and the second submersible device) provided herein adopts a rounded bow design, a water droplet shaped hull, and an inner cabin thereof adopts a cylindrical structure. The underwater equipment provided by the application adopts a metal framework, and basalt fiber composite materials are coated and compounded on the metal framework. The diving equipment comprises a water tank room and a main control power cabin which are wrapped by a pressure-resistant shell and are externally coated with basalt fiber composite materials. The seawater contacting part in the submarine comprises a water cabinet inner wall, and basalt fiber composite materials are coated on the submarine.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
The foregoing detailed description of the invention has been presented for purposes of illustration and description, and it should be understood that the invention is not limited to the particular embodiments disclosed, but is intended to cover all modifications, equivalents, alternatives, and improvements within the spirit and principles of the invention.
Claims (10)
1. A wake-up system based on a submersible device, comprising:
the electromagnetic wave ringing wake-up module is used for receiving a tour wireless signal with set frequency sent by a preprogrammed water craft and waking up first diving equipment in response to the received tour wireless signal, wherein the set frequency is lower than the preset frequency, the first diving equipment is anchored at a first preset depth, and the preprogrammed water craft flies according to a first preset route above an anchor sea area;
the passive sonar wake-up module is used for receiving a ship shell sonar signal sent by a first ship and waking up the first underwater equipment in response to the received ship shell sonar signal, wherein the first underwater equipment is anchored at a second preset depth, and the first preset depth is smaller than or equal to the second preset depth;
the passive sonar wakeup module is further configured to receive a towing sonar signal sent by the carrier platform, and wake up the first underwater device in response to the received towing sonar signal, where the first underwater device is anchored at the second preset depth;
the anchoring module is connected with the first diving equipment and used for anchoring the first diving equipment on the seabed, wherein the first diving equipment can float upwards after the first diving equipment is awakened.
2. The wake-up system of claim 1, wherein the wake-up system further comprises:
the collaborative wake-up module is used for receiving a state transition signal sent by a second diving device when the first diving device is in a first state, and waking up the first diving device according to the received state transition signal, wherein the second diving device and the first diving device are both in a preset wireless local area network, and the state transition signal is used for indicating the second diving device to transition from the first state to the second state;
wherein a first submersible device is in the first state when the first submersible device is anchored to the seabed; when the first diving equipment is awakened, the first diving equipment is in the second state;
when a second submersible device is anchored to the seabed, the second submersible device is in the first state; and when the second diving equipment is awakened, the second diving equipment is in the second state.
3. The wake-up system of claim 2 wherein the wake-up system is configured to wake up the wake-up device,
when the second diving equipment is awakened, the second diving equipment sends the state transition signal to other diving equipment in the preset wireless local area network;
the waking up the first submersible device according to the received state transition signal includes: and if the number of the state transition signals received by the first diving equipment in unit time is larger than a preset number, waking up the first diving equipment.
4. The wake-up system of claim 3, wherein the wake-up system further comprises:
the communication module comprises a floating rope antenna, and is used for receiving a message sent by a preset object under the condition that the first underwater equipment floats to a preset depth so as to jointly complete a cooperative task corresponding to the message by other underwater equipment in the preset wireless local area network, wherein the message comprises a task instruction, a target coordinate parameter and task programming, and the other underwater equipment in the preset wireless local area network comprises the second underwater equipment.
5. The wake-up system of claim 4 wherein the wake-up system is configured to wake up the wake-up device,
the message comprises a target sea area instruction and a preset mode instruction;
after the communication module receives the target sea area instruction, the first diving equipment and other diving equipment in the preset wireless local area network dive to a target sea area according to a guidance module, wherein the guidance module comprises a sonar chart, a Beidou position confirmation and correction unit and an inertial guidance unit;
and when the first diving equipment and other diving equipment in the preset wireless local area network reach the target sea area, the first diving equipment and other diving equipment in the preset wireless local area network float up to the preset depth.
6. The wake-up system of claim 5, wherein the wake-up system is configured to wake up the wake-up device,
after the first diving equipment and other diving equipment in the preset wireless local area network float up to the preset depth, the first diving equipment exchanges data with the preset object through the communication module and exchanges data with other diving equipment in the same wireless local area network;
the first diving equipment and other diving equipment in the preset wireless local area network start a preset mode at the preset depth;
and the first diving equipment and other diving equipment in the preset wireless local area network jointly transmit a plurality of the preprogrammed water aircrafts so that the preprogrammed water aircrafts fly above a mission sea area according to a second preset route to observe the condition of the mission sea area.
7. The wake system of claim 3, wherein the first submersible device being capable of floating up when the first submersible device in the first state is woken up comprises:
when the first submerged device is awakened, the anchoring module is disconnected with the seabed so that the first submerged device can float upwards; and/or
And after the first diving equipment is awakened, disconnecting the first diving equipment from the anchoring module so that the first diving equipment can float upwards.
8. The wake system of claim 1, wherein the carrying platform comprises a second vessel, a fishing vessel, an aircraft, and a ship.
9. The wake-up system of claim 1, wherein the wake-up system is configured to wake up the wake-up device,
the passive sonar awakening module is further used for receiving a specific sonar signal sent by the micro sonar submarine, and awakening the first submarine equipment in response to the received specific sonar signal, wherein the micro sonar submarine is launched by the preprogrammed submarine aircraft above the anchor sea area.
10. The wake-up system of any of claims 1 to 9, further comprising:
the non-pressure-bearing system pressure sensing module is used for sensing the pressure bearing of the non-pressure-bearing system included in the first underwater equipment, and starting the self-destruction of the first underwater equipment under the condition that the pressure bearing of the non-pressure-bearing system exceeds a preset pressure value, wherein the non-pressure-bearing system is of a seawater corrosion resistant normal pressure structure.
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