CN117278137A - Stacked sonobuoy based on underwater vehicle - Google Patents

Stacked sonobuoy based on underwater vehicle Download PDF

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Publication number
CN117278137A
CN117278137A CN202311210118.2A CN202311210118A CN117278137A CN 117278137 A CN117278137 A CN 117278137A CN 202311210118 A CN202311210118 A CN 202311210118A CN 117278137 A CN117278137 A CN 117278137A
Authority
CN
China
Prior art keywords
floating body
sonobuoy
stacked
transducer
antenna
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311210118.2A
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Chinese (zh)
Inventor
商志刚
王以诺
乔钢
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin Engineering University
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Harbin Engineering University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harbin Engineering University filed Critical Harbin Engineering University
Priority to CN202311210118.2A priority Critical patent/CN117278137A/en
Publication of CN117278137A publication Critical patent/CN117278137A/en
Pending legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B11/00—Transmission systems employing sonic, ultrasonic or infrasonic waves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00—Buoys
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/22—Multipath-related issues
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/28—Satellite selection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/32—Multimode operation in a single same satellite system, e.g. GPS L1/L2
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/521—Constructional features
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/34—Adaptation for use in or on ships, submarines, buoys or torpedoes
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/42—Housings not intimately mechanically associated with radiating elements, e.g. radome
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
    • H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2201/00—Signalling devices
    • B63B2201/18—Sonar

Abstract

A stacked sonobuoy based on an underwater vehicle relates to the field of underwater communication equipment. The invention aims to solve the problem that the existing sonobuoy cannot improve communication reliability while guaranteeing safety. The invention consists of a plurality of single sonobuoy stacks; the monoblock sonobuoy comprises: the first floating body and the second floating body which are stacked are connected through a gear transmission mechanism; the disposable shell is a groove-shaped shell, and the opening of the groove-shaped shell is opposite to the bottoms of the first floating body and the second floating body; the disposable shell is respectively connected with the first floating body and the second floating body; the core electronic cabin is arranged in the disposable shell groove; the core electronic cabin is cylindrical, and an antenna module, a power circuit module and a transducer are arranged in the core electronic cabin; the antenna module and the transducer are positioned at two ends of the core electronic cabin; the antenna module is provided with an antenna protection cover outside, and the transducer is provided with a transducer protection cover outside. The invention is used for completing the underwater communication task.

Description

Stacked sonobuoy based on underwater vehicle
Technical Field
The invention relates to the field of underwater communication equipment, in particular to a stacked sonobuoy based on an underwater carrier.
Background
A sonobuoy is an auxiliary device for ocean exploration that assists an underwater vehicle in locating in the deep sea and communicating with shore bases. The positioning device is used for realizing high-precision positioning of the underwater carrier during long-time operation and information interaction with an external platform. The basic approach of using is to carry a buoy body carrying a cross-medium communication and various sensors on an underwater carrier, release the buoy according to the operation requirement to float up to the water surface, and recycle or discard the buoy after executing the task. According to whether the buoy can be reused, the buoy can be divided into a consumption type buoy and a recyclable type buoy; according to the connection mode of the buoy and the carrier, the buoy can be divided into a cabled buoy and a cableless buoy.
The cable-type communication buoy and the cable-free communication buoy which are commonly used at present all have technical defects at different layers, the cable-free communication buoy is connected with a carrier due to no cable, the working time of the cable-free communication buoy is limited due to the power supply problem, and when the carrier is gradually far away from the buoy, the communication effect of the cable-type communication buoy and the cable-free communication buoy is greatly reduced, the effective communication time is short, and the communication reliability of the underwater carrier is poor. Although the cable-type communication buoy overcomes the defects of the cable-free buoy, the buoy body needs to be towed near the water surface, and the existing cable-type communication buoy is poor in motion stability and poor in carrying capacity of a towing cable, so that the safety of an underwater vehicle is poor. Therefore, the current sonobuoy has the problem that the communication reliability can not be improved while the safety is ensured.
Disclosure of Invention
The invention aims to solve the problem that the existing sonobuoy cannot improve communication reliability while guaranteeing safety, and provides a stacked sonobuoy based on an underwater vehicle.
A stacked sonobuoy based on an underwater vehicle is composed of a plurality of single sonobuoys;
the mono-body sonobuoy comprises: the device comprises a first floating body, a second floating body, a core electronic cabin, a disposable shell, an antenna protection cover, a transducer protection cover, an antenna module, a power circuit module and a transducer;
the first floating body and the second floating body which are stacked are connected through a gear transmission mechanism; the disposable shell is a groove-shaped shell, and the opening of the groove-shaped shell is opposite to the bottoms of the first floating body and the second floating body; the disposable shell is respectively connected with the first floating body and the second floating body; the core electronic cabin is arranged in the disposable shell groove;
the core electronic cabin is cylindrical, and an antenna module, a power circuit module and a transducer are arranged in the core electronic cabin; the antenna module and the transducer are positioned at two ends of the core electronic cabin; the antenna module is provided with an antenna protection cover outside, and the transducer is provided with a transducer protection cover outside.
Further, the top surfaces of the first floating body and the second floating body form a semi-arc structure.
Further, the first floating body and the second floating body are respectively connected to the gear transmission mechanism through hinges.
Further, the gear transmission structure includes: a driving wheel, a driven wheel and a motor;
the driving wheel and the driven wheel are respectively arranged on the first floating body and the second floating body; the driving wheel is meshed with the driven wheel;
the driving wheel is connected with the motor through a coupling.
Further, the core electronic cabin is connected with the first floating body and the second floating body through hinges; the first and second floats are connected to the disposable housing by a lock-release mechanism.
Furthermore, the antenna module is provided with a Beidou antenna and a GPS measuring antenna.
Further, the material of the antenna protection cover is a wave-transparent material.
Further, an O-shaped ring static seal is adopted between the antenna module and the power circuit module, and an O-shaped ring static seal is adopted between the power circuit module and the transducer; the joint between the antenna module, the power circuit module and the adjacent two parts of the transducer is provided with a watertight joint.
Further, a main control board, a communication antenna control board, a voltage converter, a power control board, a power supply and an underwater sound communication machine control board are arranged in the circuit power supply module.
Further, the transducer is secured by a shock absorber holder.
The beneficial effects of the invention are as follows:
the invention designs a stacked sonobuoy which is in a folded state in a storage state, has a streamline structure in the whole appearance, is regular in structure and small in volume, can store a large amount of stacked buoys in an inner box type of an underwater carrier, saves space, is convenient for continuous throwing, and reduces the cost of buoy manufacturing and distribution. After the buoy is released and reaches the water surface, the buoy automatically discards the redundant streamline shell, two folded floating bodies are unfolded, the core circuit cabin is erected, the buoy floats stably on the water surface and enters a state capable of executing a communication task, after the task is completed, the floating bodies are separated from the core electronic cabin, and the electronic cabin sinks to the sea bottom. The communication antenna is arranged in the core electronic cabin of the sonar buoy designed by the invention and is provided with the underwater acoustic communication machine, so that the communication reliability is improved, meanwhile, the towing rope is not required to drag, and the safety of the underwater carrier is improved, so that the safety is ensured and the communication reliability is improved.
Drawings
FIG. 1 is a diagram of the design and composition of the present invention;
FIG. 2 is a block diagram of a monoblock sonobuoy;
FIG. 3 is a diagram of a core electronics bay;
FIG. 4 is a release view of the outer protective housing;
FIG. 5 is a single body sonobuoy deployment block diagram;
FIG. 6 is a diagram of a gear drive mechanism;
FIG. 7 is an expanded schematic view of a stacked sonobuoy of the present invention;
FIG. 8 is a diagram of the end of deployment of the mono-body sonobuoy float;
FIG. 9 is a diagram of a single-body sonobuoy core electronics pod in an erect state;
FIG. 10 is a diagram of a monolithic floating body structure;
FIG. 11 is a flow chart of a buoy release operation;
FIG. 12 is a stacked sonobuoy sequential release diagram;
FIG. 13 is a schematic diagram of a stacked sonobuoy;
FIG. 14 is a diagram of a stacked sonobuoy being loaded in an underwater vehicle;
fig. 15 is a schematic view of a stacked sonobuoy carried by a box-type underwater vehicle according to an embodiment of the present invention.
Detailed Description
The first embodiment is as follows: the stacked sonobuoy based on the underwater vehicle comprises a plurality of single sonobuoys;
the mono-body sonobuoy comprises: the device comprises a first floating body 1, a second floating body 5, a core electronic cabin 2, a disposable shell 3, an antenna protection cover 4, a transducer protection cover 6, an antenna module 7, a power circuit module 8 and a transducer 9;
the first floating body 1 and the second floating body 5 are of the same sheet-shaped structure (namely, a cuboid with a horizontal axis longer than a vertical axis), and the larger surfaces of the first floating body 1 and the second floating body 5 are mutually attached; the top surfaces of the first floating body 1 and the second floating body 5 form a semi-arc structure, and the first floating body 1 and the second floating body 5 are connected through a gear transmission mechanism; the first floating body 1 and the second floating body 5 are respectively connected to the gear transmission mechanism through hinges and are used for realizing the conversion between a furled state and an unfolded state; the core electronic cabin 2 is arranged right below the first floating body 1 and the second floating body 5, and is connected with the first floating body 1 and the second floating body 5 through hinges; the disposable housing 3 is a groove with one side open; the disposable shell 3 is respectively connected with the first floating body 1 and the second floating body 5 through a locking-releasing mechanism, and the disposable shell 3 can be separated from the floating bodies; the core electronic cabin 2 is arranged in the disposable shell groove; the disposable housing 3 is a streamlined high-strength thin shell;
as shown in fig. 3, the core electronic cabin 2 is a cylindrical cabin body; an antenna module 7, a power circuit module 8 and a transducer 9 are arranged in the core electronic cabin 2;
the antenna module 7 and the transducer 9 are positioned at two ends of the core electronic cabin 2; an antenna protection cover 4 is arranged outside the antenna module 7, and a transducer protection cover 6 is arranged outside the transducer 9; an O-shaped ring static seal is adopted between the antenna module 7 and the power circuit module 8, and an O-shaped ring static seal is adopted between the power circuit module 8 and the transducer 9; the connection parts of the antenna module 7, the power circuit module 8 and the transducer 9 are provided with watertight joints for realizing the connection between the upper antenna and the lower transducer and the core electronic cabin;
the antenna protection cover is made of wave-transparent material;
the wave-transmitting material has good permeability to electromagnetic waves, and can be glass fiber reinforced plastic, cyanate resin and the like;
the antenna module is provided with the Beidou antenna, the GPS measuring antenna and other antennas, so that various communication modes can be realized;
the power circuit module 8 includes: the device comprises a main control board, a communication antenna control board, a voltage converter, a power supply control board, a power supply and an underwater sound communication machine control board; the power supply is a lithium battery; the electrical parameters of the lithium battery are obtained by using the power consumption and the expected service life of each module, and a proper margin is reserved;
the energy converter 9 is fixed through a damping clamp holder and is connected to a sealing cover between the power circuit module 8 and the energy converter 9 through a mooring rope, and is used for receiving underwater communication signals;
the stacked sonobuoy 13 is stored in a rectangular arrangement mechanism, and is automatically and orderly released and arranged by a matched mechanical pushing and intermittent release device according to the protection arrangement requirement.
Description of principle: when the buoy monomer structure is in an unreleased storage state, the buoy monomer structure is in a complete streamline furling state, and the structure is highly symmetrical; the floating bodies of the first floating body 1 and the second floating body 5 are in a furled state in the ascending process of moving from the water to the water surface, as shown in fig. 2, the whole appearance adopts a streamline structure, the resistance in ascending is reduced, after the floating body reaches the water surface, the floating body automatically discards redundant streamline shells, as shown in fig. 4, the two furled floating bodies are unfolded based on a gear transmission mechanism at a hinge position, as shown in fig. 5-6, the single-piece floating body is shown in fig. 10, the driven wheel 11 is fixed with the floating body 1, the driving wheel 10 is meshed to drive the two floating bodies to be unfolded at the same time, the floating bodies and the water surface have enough contact areas, and the unfolding process is shown in fig. 7-9. Through strict software simulation and calculation design body size, after the body is unfolded steadily, the core electronic cabin 2 cabin is erected, the transducer protection cover at the lower part of the core electronic cabin is abandoned, the transducer 9 sinks under the action of gravity until the mooring rope is pulled to the maximum length, and the state of executable communication tasks is entered, so that the floating center of the buoy on the water surface is higher than the gravity center by the erection of the core electronic cabin 2, and the floating stability of the buoy is improved. When the core circuit cabin 2 is erected, the communication antenna is loaded on the upper part, and the transducer 9 is carried on the lower part, so that various communication modes can be realized, including the water communication modes such as Beidou short message communication, iridium communication, 5G, 4G, data radio stations and the like, and the underwater communication modes such as underwater acoustic communication and the like. The complete operation flow of the buoy is shown in fig. 11, the operation communication requirement of the underwater vehicle is firstly acquired, an n-number single sonar buoy is transmitted, the n+1-number single sonar buoy is supplemented, then whether the communication task is completed is judged, if the communication task is completed, the communication requirement is acquired again, if the communication task is not completed, the n+1-number single sonar buoy is transmitted, and the n+2-number single sonar buoy is supplemented until the communication task is completed. After the task is completed, the float can be disengaged from the core electronics pod, which is submerged to the sea floor.
The second embodiment is as follows: the gear transmission mechanism includes: the driving wheel 10, the driven wheel 11 and the motor 12 are connected with the motor through a coupler; the driving wheel 10 and the driven wheel 11 are respectively arranged on the first floating body 1 and the second floating body 5; the driving wheel 10 is meshed with the driven wheel 11; when the motor rotates, the driving wheel drives the floating body to rotate around the hinged position of the two floating bodies, and the driven wheel is fixed with the floating bodies and only plays a role of meshing with the driving wheel.
The design composition diagram of the invention is shown in figure 1. In this embodiment, the float body is designed to be flat and has a small lateral width, which facilitates stacking and storage in large numbers, as shown in fig. 12-13. Meanwhile, the structure also reduces the resistance of the buoy when floating upwards. The stacking structure reduces the design difficulty of a throwing port matched with the stacking structure on the underwater vehicle, and can be realized by only setting a buoy intermittent release device and loading a sufficient amount of stacking buoys in an open rectangular space on the underwater vehicle. The water-tight port is not required to be arranged, a space is not required to be reserved in the sealing main body of the underwater carrier, and only a plurality of water-tight interfaces are required to be reserved, as shown in fig. 14, which is a design form. Fig. 15 shows a sonobuoy based on an underwater vehicle, which can be placed in order and put in one by one when needed, by leaving a regular spatial position above the vehicle when the underwater vehicle is of a non-revolving body box type structure.

Claims (10)

1. A stacked sonobuoy based on an underwater vehicle, characterized in that said buoy is composed of a stack of a plurality of mono-body sonobuoys;
the mono-body sonobuoy comprises: the device comprises a first floating body (1), a second floating body (5), a core electronic cabin (2), a disposable shell (3), an antenna protection cover (4), a transducer protection cover (6), an antenna module (7), a power circuit module (8) and a transducer (9);
the first floating body (1) and the second floating body (5) which are stacked are connected through a gear transmission mechanism; the disposable shell (3) is a groove-shaped shell, and the opening of the groove-shaped shell is opposite to the bottoms of the first floating body (1) and the second floating body (5); the disposable shell (3) is respectively connected with the first floating body (1) and the second floating body (5); the core electronic cabin (2) is arranged in the disposable shell groove;
the core electronic cabin (2) is a cylinder, and an antenna module (7), a power circuit module (8) and a transducer (9) are arranged in the core electronic cabin (2); the antenna module (7) and the transducer (9) are positioned at two ends of the core electronic cabin (2); an antenna protection cover (4) is arranged outside the antenna module (7), and a transducer protection cover (6) is arranged outside the transducer (9).
2. A stacked sonobuoy based on an underwater vehicle as claimed in claim 1, characterized in that: the top surfaces of the first floating body (1) and the second floating body (5) form a semi-arc structure.
3. A stacked sonobuoy based on an underwater vehicle as claimed in claim 2, wherein: the first floating body (1) and the second floating body (5) are respectively connected to the gear transmission mechanism through hinges.
4. A stacked sonobuoy based on an underwater vehicle as claimed in claim 3, wherein: the gear transmission structure comprises: a driving wheel (10), a driven wheel (11) and a motor (12);
the driving wheel (10) and the driven wheel (11) are respectively arranged on the first floating body (1) and the second floating body (5); the driving wheel (10) is meshed with the driven wheel (11);
the driving wheel (10) is connected with the motor (12) through a coupling.
5. A stacked sonobuoy based on an underwater vehicle as claimed in claim 4, wherein: the core electronic cabin (2) is connected with the first floating body (1) and the second floating body (5) through hinges; the first floating body (1), the second floating body (5) and the disposable shell (3) are connected through a locking-releasing mechanism.
6. A stacked sonobuoy based on an underwater vehicle as claimed in claim 5, wherein: and the antenna module (7) is provided with a Beidou antenna and a GPS measuring antenna.
7. A stacked sonobuoy based on an underwater vehicle as claimed in claim 6, wherein: the material of the antenna protection cover (4) is a wave-transparent material.
8. A stacked sonobuoy based on an underwater vehicle as claimed in claim 7, wherein: an O-shaped ring static seal is adopted between the antenna module (7) and the power circuit module (8), and an O-shaped ring static seal is adopted between the power circuit module (8) and the transducer (9); the connection parts of the antenna module (7), the power circuit module (8) and the adjacent two parts of the transducer (9) are provided with watertight joints.
9. A stacked sonobuoy based on an underwater vehicle as claimed in claim 8, wherein: the circuit power module (8) is internally provided with a main control board, a communication antenna control board, a voltage converter, a power control board, a power supply and an underwater sound communication machine control board.
10. A stacked sonobuoy based on an underwater vehicle as claimed in claim 9, wherein: the transducer (9) is fixed by a shock absorbing clamp.
CN202311210118.2A 2023-09-19 2023-09-19 Stacked sonobuoy based on underwater vehicle Pending CN117278137A (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4689773A (en) * 1982-12-02 1987-08-25 Magnavox Government And Industrial Electronics Company Extendible sonobuoy apparatus
CN112397868A (en) * 2020-10-22 2021-02-23 广东盛路通信科技股份有限公司 Submarine underwater communication antenna, submarine underwater communication system and submarine underwater communication control method
CN113972461A (en) * 2021-10-26 2022-01-25 中国人民解放军海军工程大学 Airbag type buoy antenna in complex sea condition and design method thereof
CN217009527U (en) * 2022-04-07 2022-07-19 哈工大机器人集团(杭州湾)国际创新研究院 Antenna folding mechanism, folding antenna and underwater robot

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4689773A (en) * 1982-12-02 1987-08-25 Magnavox Government And Industrial Electronics Company Extendible sonobuoy apparatus
CN112397868A (en) * 2020-10-22 2021-02-23 广东盛路通信科技股份有限公司 Submarine underwater communication antenna, submarine underwater communication system and submarine underwater communication control method
CN113972461A (en) * 2021-10-26 2022-01-25 中国人民解放军海军工程大学 Airbag type buoy antenna in complex sea condition and design method thereof
CN217009527U (en) * 2022-04-07 2022-07-19 哈工大机器人集团(杭州湾)国际创新研究院 Antenna folding mechanism, folding antenna and underwater robot

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