CN117289284A - Underwater robot power folding type passive sonar detection device and method - Google Patents
Underwater robot power folding type passive sonar detection device and method Download PDFInfo
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- 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
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- 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
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- 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
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
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- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to the field of underwater robot low-resistance high-performance passive sonar detection, in particular to a power folding type passive sonar detection device of an underwater robot, which comprises the following components: the device comprises a folding and unfolding mechanism, a hydrophone acoustic array, a driving motor, a controller, an attitude sensor, an acoustic array acquisition and processing unit and a communication module which are arranged on an AUV; the controller of the device is communicated with the AUV, controls the motor to act to realize repeated folding and unfolding of the acoustic array connected with the folding and unfolding mechanism, and forms a hydrophone acoustic array by unfolding, receives a target radiation noise signal or echo signal, collects a storage signal, and simultaneously processes in real time and corrects a target angle estimation result through communication connection with the attitude sensor, and further operates with the AUV; the invention makes the folding state of the acoustic array reduce the influence on the motion performance of the platform as far as possible so as to keep the motion advantage of the underwater robot as a maneuvering platform, and the unfolding state can form a large-aperture high-performance detection acoustic array so as to realize high-performance detection.
Description
Technical Field
The invention relates to the field of low-resistance high-performance passive sonar detection of underwater robots, in particular to a power folding type passive sonar detection device and method of an underwater robot, which are carried on an underwater robot platform and mainly used for carrying out underwater target detection and acoustic information collection application.
Background
The underwater robot has controllable movement and intelligent autonomous capability, can support the rapid and maneuvering target detection requirement, and is a key element of future underwater intelligent networking detection. The sonar detection device carried by the underwater robot is mainly a miniaturized design acoustic array or a platform adaptive miniaturized volume array of a conventional ship dragging/side array, a submarine/buoy array and the like so as to meet the requirements of being in a platform load range and having small influence on the motion performance of the platform, but the acoustic array has the problems of small array aperture and weak detection performance, and cannot meet the requirements of high-performance detection such as high-angle resolution, long distance and the like.
In order to break through the great restriction of the underwater robot platform to the aperture of the acoustic array, development of a novel underwater robot sonar detection device is needed. And the limited energy sources of the current underwater robot platform are considered, so that the novel underwater robot passive sonar detection device is preferentially developed.
Disclosure of Invention
The invention aims to provide a power folding type passive sonar detection device suitable for an underwater robot, which has intelligent autonomous folding-unfolding and passive detection capabilities so as to overcome the defects of the sonar detection device carried by the underwater robot.
The technical scheme adopted by the invention for achieving the purpose is as follows: an underwater robot powered folding passive sonar detection device, comprising: the device comprises a folding and unfolding mechanism, a hydrophone acoustic array, a driving motor, a controller, an attitude sensor, an acoustic array acquisition and processing unit and a communication module which are arranged on an AUV;
the driving motor is connected with the folding and unfolding mechanism and is used for driving the folding and unfolding mechanism to execute folding and unfolding actions;
the controller is connected with the driving motor and is used for controlling the start and stop of the driving motor after receiving the control instruction of the AUV and the array state parameters of the driving motor;
the folding and unfolding mechanism is used for realizing repeated folding or unfolding actions of the hydrophone acoustic array connected with the folding and unfolding mechanism along with driving of the driving motor;
the hydrophone acoustic array is arranged on the folding and unfolding mechanism and is used for collecting acoustic data of a detection target in real time along with the folding and unfolding of the folding and unfolding mechanism;
the acoustic array acquisition processing unit is used for acquiring and storing electric signals output by the hydrophone acoustic array, processing the electric signals in combination with the AUV pose, obtaining the detection target characteristics and the azimuth information, and transmitting the detection target characteristics and the azimuth information to the AUV through the communication module;
the attitude sensor is arranged in the control cabin of the AUV platform and used for acquiring the attitude of the AUV, and another attitude sensor is arranged on the control board of the dynamic folding passive sonar detection device of the underwater robot and used for sensing the own attitude of the sonar detection device, and the data of the attitude sensor and the control board are uniformly transmitted to the acoustic array acquisition processing unit;
the communication module is used for transmitting the instruction and the pose data between the acoustic array acquisition processing unit and the AUV.
The connection mode of the folding and unfolding mechanism and the AUV comprises the following steps: any one of a rigid connection, a flexible connection, or a connection with a cable of a winding and unwinding winch provided on the AUV.
The folding and unfolding mechanism is arranged at any position in the back, the belly, the bow, the stern and the port and starboard sides of the AUV.
The hydrophone acoustic array is a single-array element hydrophone acoustic array or a multi-array element hydrophone acoustic array;
the single array element hydrophone acoustic array comprises: a single scalar or vector hydrophone also needs to adopt a power supply and signal transmission cable for a non-self-contained hydrophone;
the multi-array element hydrophone acoustic array consists of a plurality of hydrophones and is arranged on the folding and unfolding mechanism in a uniform or non-uniform mode;
the hydrophone is a transducer for converting acoustic signals into electric signals and is used for receiving the acoustic signals in water, and piezoelectric, optical fibers or other hydrophones are adopted.
The folding and unfolding mechanism is a rigid folding and unfolding structure or a flexible folding and unfolding structure;
the rigid folded sonar detection device is any one of a sliding folded sonar detection device and a connecting rod folded sonar detection device;
the flexible folded sonar detection device is any one of a bionic cuttlefish wrist-touch folded sonar detection device or a silk-wire spring folded sonar detection device.
Sliding extension formula sonar detection device includes: the device comprises a motor fixing seat, a driving motor, a ball screw, a sonar fixing frame and a sonar;
the motor fixing seat is arranged on the AUV, and the driving motor is fixedly arranged on the motor fixing seat and is subjected to sealing treatment; the driving motor is fixedly arranged at one end of the ball screw, and a motor output shaft of the driving motor is connected with a screw shaft of the ball screw through a coupler so as to provide a power source through the driving motor and transmit rotary motion; the ball screw converts rotary motion into linear motion through a sliding block, a sonar fixing frame is fixedly arranged on the sliding block, and the sonar fixing frame is driven to linearly reciprocate along a slideway along with the movement of the sliding block;
connecting rod folded and unfolded sonar detection device includes: the device comprises a sonar arm, a sonar, a driving motor, a bevel gear output mechanism, a disc-shaped slideway, a sliding block, a connecting rod, an upper connecting rod and a lower connecting rod;
the disc slide is fixedly arranged on the AUV, the driving motor drives the bevel gear output mechanism to carry out power transmission, the bevel gear output mechanism is fixedly arranged at the upper center of the disc slide, the bevel gear mechanism is of a single-input double-output shaft design, the bevel gear double-output shafts are hinged with the sonar arms at the outermost sides of the two ends through connecting rods respectively, the sonar arms are hinged with each other at the root parts of the sonar arms through the upper connecting rods, further the driven sonar arms are driven to act, the sliding blocks are hinged with the sonar arms, the sliding blocks can circumferentially slide in the disc slide, the opening angle of the sonar arms is controlled through the hinge of the lower connecting rods, the sonar arms arranged at the middle positions are in a fixed state, and the sonar arms are fixedly arranged on the sonar arms and are driven to move in a folding and unfolding mode along with the circular movement of the sonar arms.
Bionic cuttlefish touches wrist formula and rolls over and expand sonar detection device belongs to continuous type underwater mechanical arm, includes: hydraulic pump, steel frame, grille, inner pipe, flexible skin and sonar;
the hydraulic pump is fixedly arranged in the steel frame, the mechanical arm formed by the grids is hinged and extended around the steel frame, the flexible skin is wrapped outside the steel frame and the grids, and the sonar is fixedly arranged outside the flexible skin;
the hydraulic pump is characterized in that fluid media in the hydraulic pump are jet elastic bodies, one end of an inner pipeline is fixedly connected with a grid, the other end of the inner pipeline is fixedly connected with an output port of the hydraulic pump, the hydraulic pump drives the jet elastic bodies to flow between the hydraulic pump and the grid, the jet elastic bodies enter the grid wrapped by flexible materials through the pipeline, the grid expands to the periphery under the action of the pressure of the jet elastic bodies in the hydraulic pump, so that tension similar to that of cuttlefish touching wrist muscles is generated, the action of a mechanical arm is driven, and the sonar follows the action of the mechanical arm;
wire spring formula is folded and is spread sonar detection device includes: the device comprises an extension spring, a rope, a driving motor, a rotating wheel, a base, a mechanical arm and a sonar;
the sonar is fixedly arranged on the mechanical arm, the tail end of the mechanical arm is in a hinged connection mode with the base, one side of the extension spring is fixedly connected with the mechanical arm, the other side of the extension spring is fixedly connected with the base, one side of the rope is fixedly arranged on the mechanical arm, the other side of the rope is fixedly arranged on the rotating wheel, the rotating wheel is fixedly connected with the output shaft of the driving motor, and the driving motor is fixedly arranged on the base;
the driving motor drives the rotating wheel to tension the rope, overcomes the tensile force of the spring, the mechanical arm is opened, when the driving motor rotates reversely, the rope is in a loose state, the mechanical arm is folded to a closed state under the action of the spring force, and the sonar follows the mechanical arm to perform unfolding and closing actions.
A detection method of an underwater robot power folding type passive sonar detection device comprises the following steps:
1) The controller receives a control instruction sent by the AUV control system through the communication module, controls the driving motor to adjust the array state according to the type of the control instruction, and meanwhile, feeds back the array state parameters to the controller through the driving motor;
2) The controller continuously controls the driving motor to adjust the folding mechanism in real time according to the array state parameters, so that the hydrophone acoustic array arranged on the folding mechanism reaches a set state;
3) When a hydrophone acoustic array in water detects a target radiation noise signal or an echo signal, an acoustic array acquisition processing unit acquires an electric signal of the current hydrophone acoustic array, and simultaneously acquires an AUV platform pose perceived by a pose sensor of an AUV control system and a self pose of an underwater robot power folding type passive sonar detection device through a communication module, so as to be used for correcting a processing result;
4) The acoustic array acquisition processing unit processes the electric signals of the hydrophone acoustic array in real time to obtain target azimuth information, stores the obtained target azimuth information, and sends the target azimuth information to the AUV control system through the communication module;
5) And (3) after the AUV control system acquires a new control instruction according to the target azimuth information, repeating the steps 1) to 4).
In step 1), the driving motor is controlled to adjust the array state according to the type of the control command, specifically:
2-1) when the AUV sends a control instruction as an AUV static detection instruction, the controller controls the driving motor according to the array state parameter to enable the folding mechanism to keep the unfolding state, and the hydrophone acoustic array detects;
2-2) when the AUV sends a control instruction as an AUV low-speed maneuverability detection instruction and the folding and unfolding mechanism is of a rigid folding and unfolding structure, the controller controls the driving motor according to the array state parameters to enable the folding and unfolding mechanism to keep a unfolding state, and the hydrophone acoustic array detects;
2-3) when the AUV sends a control instruction as an AUV low-speed maneuverability detection instruction and the folding and unfolding mechanism is of a flexible folding and unfolding structure, the controller controls the driving motor according to the array state parameters to enable the folding and unfolding mechanism to keep a folding state, and the hydrophone acoustic array detects;
2-4) when the AUV sends a control instruction as an AUV high-speed maneuverability detection instruction, the controller controls the driving motor according to the array state parameters to enable the folding and unfolding mechanism to keep a folding state, and the hydrophone acoustic array detects.
The acoustic array acquisition processing unit processes the electric signals of the hydrophone acoustic array in real time to obtain target azimuth information, and specifically comprises the following steps:
step 1: the method comprises the steps that an acoustic array acquisition unit transmits acquired signals to an embedded CPU in frames, the dimension of a data matrix X of each frame is NxL, N represents the number of acoustic array elements, and L represents the number of snapshots required by processing;
step 2: for each frame of data, the covariance matrix R of the received signal is obtained xx The method comprises the following steps:
wherein [ (S)] H Represents a conjugate transpose;
step 3: for R xx And (3) performing eigenvalue decomposition, namely:
R xx ＝UΛU H ＝U S Λ S U S H +U N Λ N U N H
wherein U is S Is an N multiplied by K dimensional signal feature vector matrix; u (U) N A noise eigenvector matrix of N x (N-K) dimension; Λ type S A K multiplied by K diagonal matrix is corresponding to the signal characteristic value; Λ type N Corresponding (N-K) x (N-K) dimensional diagonal matrix for noise characteristic value;
step 4: constructing a guiding vector of the angle scanning space, which is specifically as follows:
wherein θ k ∈[-π,π]K=1, 2, … M denotes the spatial spectrum scanning azimuth, Φ k ∈[0,π]K=1, 2, … M denotes the spatial spectrum scan pitch angle, M denotes the number of angles scanned, f 0 Is the signal center frequency, c is the acoustic velocity in water, (x) i ,y i ,z i ) Representing the coordinates of the ith array element;
step 5: calculating a spatial spectrum, namely:
the corresponding angles of the spectrum peaks of the spatial spectrum are the azimuth angle and the pitch angle of the target.
The invention has the following beneficial effects and advantages:
1. the invention provides an innovative design concept of an underwater robot sonar detection device, so that the influence on the motion performance of a platform is reduced as much as possible in a folded state of an acoustic array to keep the motion advantage of the underwater robot as a maneuvering platform, and a large-aperture high-performance detection acoustic array can be formed in an unfolded state to realize high-performance detection;
2. the invention provides a design framework of a dynamic folding passive sonar detection device of an underwater robot, which systematically explains main constituent modules of the sonar detection device and possible design schemes of mechanisms of the sonar detection device, and guides the concrete design of the sonar detection device of various types;
3. the invention provides a novel detection operation mode of an underwater robot integrated sonar detection device, namely the underwater robot is carried with the integrated operation of the folding passive sonar detection device, the detection tasks are all the same throughout, the acoustic array adjusts the folding-unfolding state in real time according to the motion state of a platform of the underwater robot, and the detection performance can be improved by further utilizing the maneuvering advantages of the platform in the detection process.
Drawings
FIG. 1 is a schematic diagram of the overall structure connection of the present invention.
Fig. 2 is a schematic diagram of an operation mode of the detecting device according to the present invention.
FIG. 3a is a schematic diagram illustrating a rigid connection between the folding and unfolding mechanism and the AUV according to the present invention;
FIG. 3b is a schematic view illustrating a flexible connection between the folding and unfolding mechanism and the AUV according to the present invention;
FIG. 3c is a schematic diagram of the connection between the folding and unfolding mechanism and the retractable winch of the AUV;
FIG. 4a is a schematic diagram of a sliding folded sonar detection device according to the present invention;
fig. 4b is a schematic structural diagram of the link-type folded sonar detection device of the present invention;
FIG. 4c is a schematic diagram of the flexible folded-unfolded sonar detection device of the present invention;
the device comprises a sliding type folded sonar detection device 1, a connecting rod folded sonar detection device 2 and a bionic cuttlefish wrist-touch folded sonar detection device 3;
FIG. 5 is a schematic diagram of the structure of the acoustic array of the multi-array hydrophone of the present invention;
fig. 6 is a schematic diagram of a detection method of the detection device of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Referring to fig. 1, a schematic diagram of the overall structure connection of the present invention is shown, wherein the power folding passive sonar detection device of an underwater robot of the present invention includes: the device comprises a folding and unfolding mechanism, a hydrophone acoustic array, a driving motor, a controller, an attitude sensor, an acoustic array acquisition and processing unit and a communication module which are arranged on an AUV;
the driving motor is connected with the folding and unfolding mechanism and is used for driving the folding and unfolding mechanism to execute folding and unfolding actions;
the controller is connected with the driving motor and is used for controlling the start and stop of the driving motor after receiving the control instruction of the AUV and the array state parameters of the driving motor;
the folding and unfolding mechanism is used for realizing repeated folding or unfolding actions of the hydrophone acoustic array connected with the folding and unfolding mechanism along with driving of the driving motor;
the hydrophone acoustic array is arranged on the folding and unfolding mechanism and is used for collecting acoustic data of a detection target in real time along with the folding and unfolding of the folding and unfolding mechanism;
the acoustic array acquisition processing unit is used for acquiring and storing electric signals output by the hydrophone acoustic array, processing the electric signals in combination with the AUV pose, and transmitting the information to the AUV through the communication module after obtaining the detection target azimuth information;
the attitude sensor is arranged in the control cabin of the AUV platform and used for acquiring the attitude of the AUV, and another attitude sensor is arranged on the control board of the dynamic folding passive sonar detection device of the underwater robot and used for sensing the own attitude of the sonar detection device, and the two data are uniformly transmitted to the acoustic array acquisition processing unit;
and the communication module is used for transmitting the instruction and the pose data between the acoustic array acquisition processing unit and the AUV.
In the invention, if the underwater robot power folding passive sonar detection device is connected with the underwater robot platform in a rotatable manner, a controller, a motor and a enclasping device can be added to realize the rotation of the acoustic array at a given angle, so as to complete the target multi-angle tracking task.
In the invention, in order to improve the folding and unfolding precision, the motor is preferably a brush motor.
In the invention, in order to ensure the suitability of communication with different underwater robot platforms, the communication module adopts a programmable design scheme compatible with various interface communication protocols.
In the invention, in order to improve the detection angle estimation precision, the attitude sensor adopts a high-precision (error is less than 1 °) attitude sensor;
the battery in the invention can be a self-contained battery or a connected battery of the underwater robot platform; the battery can adopt a primary battery, a secondary battery or other batteries;
as shown in fig. 3a to 3c, a schematic diagram of a connection mode between a folding mechanism and an AUV according to the present invention is shown, where the connection mode between the folding mechanism and the AUV includes: the invention is applicable to any connecting mode, such as a rigid connecting mode, a flexible connecting mode or a connecting mode connected with a cable of a winding and unwinding winch arranged on the AUV;
the folding and unfolding mechanism is arranged at any position in the back, the belly, the bow, the stern and the port and starboard sides of the AUV. As shown in fig. 2 and 3a, in the present embodiment, the folding mechanism is disposed at the back of the AUV;
as shown in fig. 4 a-4 b, the folding and unfolding mechanism is a rigid folding and unfolding structure or a flexible folding and unfolding structure;
the rigid folded sonar detection device is any one of a sliding folded sonar detection device and a connecting rod folded sonar detection device;
the flexible folded sonar detection device is any one of a bionic cuttlefish wrist-touch folded sonar detection device or a silk-wire spring folded sonar detection device.
As shown in fig. 4a, the sliding folding sonar detection device of the present invention includes: the device comprises a motor fixing seat, a driving motor, a ball screw, a sonar fixing frame and a sonar;
the motor fixing seat is arranged on the AUV, and the driving motor is fixedly arranged on the motor fixing seat and is subjected to sealing treatment; the driving motor is fixedly arranged at one end of the ball screw, and a motor output shaft of the driving motor is connected with a screw shaft of the ball screw through a coupler so as to provide a power source through the driving motor and transmit rotary motion; the ball screw converts rotary motion into linear motion through the sliding block, the sonar fixing frame is fixedly arranged on the sliding block, and the sonar fixing frame is driven to linearly reciprocate along the slideway along with the movement of the sliding block;
as shown in FIG. 4b, the structure of the connecting rod type folded sonar detection device of the present invention is schematically shown, wherein the connecting rod type folded sonar detection device comprises: the device comprises a sonar arm, a sonar, a driving motor, a bevel gear output mechanism, a disc-shaped slideway, a sliding block, a connecting rod, an upper connecting rod and a lower connecting rod;
the disc slideway is fixedly arranged on the AUV, the driving motor drives the bevel gear output mechanism to carry out power transmission, the bevel gear output mechanism is fixedly arranged at the upper center of the disc slideway, the bevel gear mechanism is of a single-input double-output shaft design, the bevel gear double-output shaft is respectively hinged with the sonar arms at the outermost sides of the two ends through the connecting rods, the sonar arms are hinged at the root parts of the sonar arms through the upper connecting rods, further the driven sonar arms are driven to act, the sliding blocks are hinged with the sonar arms, the sliding blocks can circumferentially slide in the disc slideway, the opening angle of the sonar arms is controlled through the hinging of the lower connecting rods, the sonar arms arranged at the middle positions are in a fixed state, and the sonar arms are fixedly arranged on the sonar arms and are driven to move along with the circumferential movement of the sonar arms.
As shown in fig. 4c, a schematic structural diagram of a flexible folding mechanism according to the present invention is shown, where the flexible folding mechanism includes: a bionic cuttlefish wrist-contact type folding and unfolding mechanism and a silk thread spring type folding and unfolding structure;
the bionic cuttlefish wrist-touch type folding sonar detection device belongs to a continuous underwater mechanical arm and comprises a hydraulic pump, a steel frame, a grid, a jet elastomer, a pipeline, a flexible skin and a sonar.
The hydraulic pump is fixedly arranged in the steel frame, the mechanical arm formed by the grids is hinged and extended around the steel frame, the flexible skin is wrapped outside the steel frame and the grids, the sonar is fixedly arranged outside the flexible skin, fluid medium in the hydraulic pump is a jet elastomer, one end of an inner pipeline is fixedly connected with the grids, the other end of the inner pipeline is fixedly connected with an output port of the hydraulic pump, the jet elastomer is driven to flow between the hydraulic pump and the grids through the hydraulic pump, the jet elastomer enters the grids wrapped by the flexible material through the pipeline, the grids expand to the periphery under the pressure action of the jet elastomer medium, so that the contraction force similar to the contraction force of cuttlefish touching wrist muscles is generated, the action of the mechanical arm is driven, and the sonar follows the action of the mechanical arm;
the wire spring type folded sonar detection device comprises an extension spring, a rope, a driving motor, a rotating wheel, a base, a mechanical arm and a sonar. The sonar is fixedly arranged on the mechanical arm, the tail end of the mechanical arm is connected with the base in a hinged mode, one side of the extension spring is fixedly connected with the mechanical arm, the other side of the extension spring is fixedly connected with the base, one side of the rope is fixedly arranged on the mechanical arm, the other side of the rope is fixedly arranged on the rotating wheel, the rotating wheel is fixedly connected with the output shaft of the driving motor, and the driving motor is fixedly arranged on the base. When the driving motor drives the rotating wheel to tighten the rope, the tension of the spring is overcome, the mechanical arm is opened, when the driving motor rotates reversely, the rope is in a loose state, the mechanical arm is folded to a closed state under the action of the spring force, and the sonar follows the mechanical arm to perform unfolding and closing actions.
FIG. 5 is a schematic diagram of a multi-array hydrophone acoustic array according to the present invention, where the hydrophone acoustic array is connected to an acoustic transmission mechanism formed by one or more of glass fiber reinforced plastic, rubber, carbon fiber, titanium alloy, and other acoustic transmission materials, and may be placed in a low-choke line type acoustic transmission protection barrel;
the hydrophone acoustic array is a single-array element hydrophone acoustic array or a multi-array element hydrophone acoustic array;
an acoustic array of a single array element hydrophone comprising: a single scalar or vector hydrophone also needs to adopt a power supply and signal transmission cable for a non-self-contained hydrophone;
the multi-array element hydrophone acoustic array consists of a plurality of hydrophones and is arranged on the folding and unfolding mechanism in a uniform or non-uniform mode;
the hydrophone is a transducer for converting acoustic signals into electric signals and is used for receiving acoustic signals in water, and piezoelectric, optical fibers or other hydrophones are adopted.
Referring to fig. 6, which is a schematic diagram of a detection method of the detection device of the present invention, the detection method of the power folding passive sonar detection device of the underwater robot of the present invention includes the following steps:
1) The controller receives a control instruction sent by the AUV control system through the communication module, controls the driving motor to adjust the array state according to the type of the control instruction, and meanwhile, feeds back the array state parameters to the controller through the driving motor;
2) The controller continuously controls the driving motor to adjust the folding mechanism in real time according to the array state parameters, so that the hydrophone acoustic array arranged on the folding mechanism reaches a set state;
3) When a hydrophone acoustic array in water detects a target radiation noise signal or an echo signal, an acoustic array acquisition processing unit acquires an electric signal of the current hydrophone acoustic array, and simultaneously acquires an AUV platform pose perceived by a pose sensor of an AUV control system and a self pose of an underwater robot power folding type passive sonar detection device through a communication module, so as to be used for correcting a processing result;
4) The acoustic array acquisition processing unit processes the electric signals of the hydrophone acoustic array in real time to obtain target azimuth information, stores the obtained target azimuth information, and sends the target azimuth information to the AUV control system through the communication module;
5) And (3) after the AUV control system acquires a new control instruction according to the target azimuth information, repeating the steps 1) to 4).
As shown in fig. 2, a schematic diagram of a working mode of the detecting device according to the present invention is shown, wherein in step 2), a driving motor is controlled to adjust an array state according to a type of a control command, specifically:
2-1) when the AUV sends a control instruction as an AUV static detection instruction, the controller controls the driving motor according to the array state parameter to enable the folding mechanism to keep the unfolding state, and the hydrophone acoustic array detects;
2-2) when the AUV sends a control instruction as an AUV low-speed maneuverability detection instruction and the folding and unfolding mechanism is of a rigid folding and unfolding structure, the controller controls the driving motor according to the array state parameters to enable the folding and unfolding mechanism to keep a unfolding state, and the hydrophone acoustic array detects;
2-3) when the AUV sends a control instruction as an AUV low-speed maneuverability detection instruction and the folding and unfolding mechanism is of a flexible folding and unfolding structure, the controller controls the driving motor according to the array state parameters to enable the folding and unfolding mechanism to keep a folding state, and the hydrophone acoustic array detects;
2-4) when the AUV sends a control instruction as an AUV high-speed maneuverability detection instruction, the controller controls the driving motor according to the array state parameters to enable the folding and unfolding mechanism to keep a folding state, and the hydrophone acoustic array detects.
As shown in fig. 6, in the detection method of the present invention, an acoustic array acquisition processing unit processes an electrical signal of a hydrophone acoustic array in real time to obtain target azimuth information, specifically:
step 1: the method comprises the steps that an acoustic array acquisition unit transmits acquired signals to an embedded CPU in frames, the dimension of a data matrix X of each frame is NxL, N represents the number of acoustic array elements, and L represents the number of snapshots required by processing;
step 2: for each frame of data, the covariance matrix R of the received signal is obtained xx The method comprises the following steps:
wherein [ (S)] H Represents a conjugate transpose;
step 3: for R xx And (3) performing eigenvalue decomposition, namely:
R xx ＝UΛU H ＝U S Λ S U S H +U N Λ N U N H
wherein U is S Is an N multiplied by K dimensional signal feature vector matrix; u (U) N A noise eigenvector matrix of N x (N-K) dimension; Λ type S A K multiplied by K diagonal matrix is corresponding to the signal characteristic value; Λ type N Corresponding (N-K) x (N-K) dimensional diagonal matrix for noise characteristic value;
step 4: constructing a guiding vector of the angle scanning space, which is specifically as follows:
wherein θ k ∈[-π,π]K=1, 2, … M denotes the spatial spectrum scanning azimuth, Φ k ∈[0,π]K=1, 2, … M denotes the spatial spectrum scan pitch angle, M denotes the number of angles scanned, f 0 Is the signal center frequency, c is the acoustic velocity in water, (x) i ,y i ,z i ) Representing the coordinates of the ith array element;
step 5: calculating a spatial spectrum, namely:
the corresponding angles of the spectrum peaks of the spatial spectrum are the azimuth angle and the pitch angle of the target.
Examples:
as shown in fig. 6, this embodiment only shows a circuit diagram of the detection device in a rigid connection manner and an attitude sensor configured by using an AUV platform connected thereto; the controller of the detection device receives an AUV platform instruction and controls the motor to adjust the array state; the motor action is further controlled by combining the collected or fed back array state parameters, so that the acoustic array reaches a set state; the hydrophone acoustic array receives a target radiation noise signal or an echo signal, the acquisition module acquires the signal, the processing module processes the acquired signal in real time, and the communication module acquires the AUV platform gesture perceived by the gesture sensor for correcting the processing result; the storage module can store the acquired signals, the extracted target features, the processed results such as target azimuth and the like according to set requirements; the communication module transmits the target characteristics extracted by the processing module, the processed results and the like to the AUV, and supports the subsequent work of the roboticized detection device.
The invention provides an innovative design concept of an underwater robot sonar detection device, so that the influence on the motion performance of a platform is reduced as much as possible in a folded state of an acoustic array to keep the motion advantage of the underwater robot as a maneuvering platform, and a large-aperture high-performance detection acoustic array can be formed in an unfolded state to realize high-performance detection;
in summary, the wet end of the power folding passive sonar detection device of the underwater robot in the present invention includes many possible forms, and the examples merely represent several embodiments of the present invention, but should not be construed as limiting the scope of the patent of the present invention. The connection mode of the detection device is in various modes, such as a rigid connection mode, a flexible connection mode and a retractable winch connection mode.
The connection position of the probe device is selected from a variety of options, such as back connection, belly connection, fore connection, stern connection, side connection, etc.
There are various arrangements of the folding and unfolding mechanism of the detecting device 1, such as a sliding folding and unfolding mechanism, a link type folding and unfolding mechanism, a flexible folding and unfolding mechanism, and the like. The folded and unfolded state of the detecting device has various forms, such as a linear folded state, a cylindrical folded state, an umbrella folded state, a linear unfolded state, a circular unfolded state, a planar unfolded state and a volume unfolded state.
The acoustic array of the detection device is configured with different options, such as single array elements, multiple array elements (including annular multiple array elements, circumferential multiple array elements extending in symmetrical directions, etc.).
The foregoing is merely an embodiment of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. An underwater robot power folding passive sonar detection device, which is characterized by comprising: the device comprises a folding and unfolding mechanism, a hydrophone acoustic array, a driving motor, a controller, an attitude sensor, an acoustic array acquisition and processing unit and a communication module which are arranged on an AUV;
the driving motor is connected with the folding and unfolding mechanism and is used for driving the folding and unfolding mechanism to execute folding and unfolding actions;
the controller is connected with the driving motor and is used for controlling the start and stop of the driving motor after receiving the control instruction of the AUV and the array state parameters of the driving motor;
the folding and unfolding mechanism is used for realizing repeated folding or unfolding actions of the hydrophone acoustic array connected with the folding and unfolding mechanism along with driving of the driving motor;
the hydrophone acoustic array is arranged on the folding and unfolding mechanism and is used for collecting acoustic data of a detection target in real time along with the folding and unfolding of the folding and unfolding mechanism;
the acoustic array acquisition processing unit is used for acquiring and storing electric signals output by the hydrophone acoustic array, processing the electric signals in combination with the AUV pose, obtaining the detection target characteristics and the azimuth information, and transmitting the detection target characteristics and the azimuth information to the AUV through the communication module;
the attitude sensor is arranged in the control cabin of the AUV platform and used for acquiring the attitude of the AUV, and another attitude sensor is arranged on the control board of the dynamic folding passive sonar detection device of the underwater robot and used for sensing the own attitude of the sonar detection device, and the data of the attitude sensor and the control board are uniformly transmitted to the acoustic array acquisition processing unit;
the communication module is used for transmitting the instruction and the pose data between the acoustic array acquisition processing unit and the AUV.
2. The underwater robot power folding passive sonar detection device of claim 1, wherein the connection mode of the folding mechanism and the AUV comprises: any one of a rigid connection, a flexible connection, or a connection with a cable of a winding and unwinding winch provided on the AUV.
3. The power folding passive sonar detection device of an underwater robot according to claim 1, wherein said folding mechanism is arranged at any position among the back, the belly, the bow, the stern and the port side of the AUV.
4. The underwater robot power folding passive sonar detection device of claim 1, wherein the hydrophone acoustic array is a single-element hydrophone acoustic array or a multi-element hydrophone acoustic array;
the single array element hydrophone acoustic array comprises: a single scalar or vector hydrophone also needs to adopt a power supply and signal transmission cable for a non-self-contained hydrophone;
the multi-array element hydrophone acoustic array consists of a plurality of hydrophones and is arranged on the folding and unfolding mechanism in a uniform or non-uniform mode;
the hydrophone is a transducer for converting acoustic signals into electric signals and is used for receiving the acoustic signals in water, and piezoelectric, optical fibers or other hydrophones are adopted.
5. The underwater robot power folding passive sonar detection device of claim 1, wherein the folding mechanism is a rigid folding structure or a flexible folding structure;
the rigid folded sonar detection device is any one of a sliding folded sonar detection device and a connecting rod folded sonar detection device;
the flexible folded sonar detection device is any one of a bionic cuttlefish wrist-touch folded sonar detection device or a silk-wire spring folded sonar detection device.
6. The underwater robot dynamic folding passive sonar detection device of claim 5, wherein the sliding folding sonar detection device comprises: the device comprises a motor fixing seat, a driving motor, a ball screw, a sonar fixing frame and a sonar;
the motor fixing seat is arranged on the AUV, and the driving motor is fixedly arranged on the motor fixing seat and is subjected to sealing treatment; the driving motor is fixedly arranged at one end of the ball screw, and a motor output shaft of the driving motor is connected with a screw shaft of the ball screw through a coupler so as to provide a power source through the driving motor and transmit rotary motion; the ball screw converts rotary motion into linear motion through a sliding block, a sonar fixing frame is fixedly arranged on the sliding block, and the sonar fixing frame is driven to linearly reciprocate along a slideway along with the movement of the sliding block;
connecting rod folded and unfolded sonar detection device includes: the device comprises a sonar arm, a sonar, a driving motor, a bevel gear output mechanism, a disc-shaped slideway, a sliding block, a connecting rod, an upper connecting rod and a lower connecting rod;
the disc slide is fixedly arranged on the AUV, the driving motor drives the bevel gear output mechanism to carry out power transmission, the bevel gear output mechanism is fixedly arranged at the upper center of the disc slide, the bevel gear mechanism is of a single-input double-output shaft design, the bevel gear double-output shafts are hinged with the sonar arms at the outermost sides of the two ends through connecting rods respectively, the sonar arms are hinged with each other at the root parts of the sonar arms through the upper connecting rods, further the driven sonar arms are driven to act, the sliding blocks are hinged with the sonar arms, the sliding blocks can circumferentially slide in the disc slide, the opening angle of the sonar arms is controlled through the hinge of the lower connecting rods, the sonar arms arranged at the middle positions are in a fixed state, and the sonar arms are fixedly arranged on the sonar arms and are driven to move in a folding and unfolding mode along with the circular movement of the sonar arms.
7. The power folding passive sonar detection device of an underwater robot according to claim 5, wherein said bionic cuttlefish wrist-contacting folding sonar detection device belongs to a continuous underwater mechanical arm, comprising: hydraulic pump, steel frame, grille, inner pipe, flexible skin and sonar;
the hydraulic pump is fixedly arranged in the steel frame, the mechanical arm formed by the grids is hinged and extended around the steel frame, the flexible skin is wrapped outside the steel frame and the grids, and the sonar is fixedly arranged outside the flexible skin;
the hydraulic pump is characterized in that fluid media in the hydraulic pump are jet elastic bodies, one end of an inner pipeline is fixedly connected with a grid, the other end of the inner pipeline is fixedly connected with an output port of the hydraulic pump, the hydraulic pump drives the jet elastic bodies to flow between the hydraulic pump and the grid, the jet elastic bodies enter the grid wrapped by flexible materials through the pipeline, the grid expands to the periphery under the action of the pressure of the jet elastic bodies in the hydraulic pump, so that tension similar to that of cuttlefish touching wrist muscles is generated, the action of a mechanical arm is driven, and the sonar follows the action of the mechanical arm;
wire spring formula is folded and is spread sonar detection device includes: the device comprises an extension spring, a rope, a driving motor, a rotating wheel, a base, a mechanical arm and a sonar;
the sonar is fixedly arranged on the mechanical arm, the tail end of the mechanical arm is in a hinged connection mode with the base, one side of the extension spring is fixedly connected with the mechanical arm, the other side of the extension spring is fixedly connected with the base, one side of the rope is fixedly arranged on the mechanical arm, the other side of the rope is fixedly arranged on the rotating wheel, the rotating wheel is fixedly connected with the output shaft of the driving motor, and the driving motor is fixedly arranged on the base;
the driving motor drives the rotating wheel to tension the rope, overcomes the tensile force of the spring, the mechanical arm is opened, when the driving motor rotates reversely, the rope is in a loose state, the mechanical arm is folded to a closed state under the action of the spring force, and the sonar follows the mechanical arm to perform unfolding and closing actions.
8. The detection method of the power folding passive sonar detection device of the underwater robot according to claim 1, comprising the following steps:
1) The controller receives a control instruction sent by the AUV control system through the communication module, controls the driving motor to adjust the array state according to the type of the control instruction, and meanwhile, feeds back the array state parameters to the controller through the driving motor;
2) The controller continuously controls the driving motor to adjust the folding mechanism in real time according to the array state parameters, so that the hydrophone acoustic array arranged on the folding mechanism reaches a set state;
3) When a hydrophone acoustic array in water detects a target radiation noise signal or an echo signal, an acoustic array acquisition processing unit acquires an electric signal of the current hydrophone acoustic array, and simultaneously acquires an AUV platform pose perceived by a pose sensor of an AUV control system and a self pose of an underwater robot power folding type passive sonar detection device through a communication module, so as to be used for correcting a processing result;
4) The acoustic array acquisition processing unit processes the electric signals of the hydrophone acoustic array in real time to obtain target azimuth information, stores the obtained target azimuth information, and sends the target azimuth information to the AUV control system through the communication module;
5) And (3) after the AUV control system acquires a new control instruction according to the target azimuth information, repeating the steps 1) to 4).
9. The method for detecting the power folding passive sonar detection device of the underwater robot according to claim 8, wherein in the step 1), the driving motor is controlled to adjust the array state according to the type of the control command, specifically:
2-1) when the AUV sends a control instruction as an AUV static detection instruction, the controller controls the driving motor according to the array state parameter to enable the folding mechanism to keep the unfolding state, and the hydrophone acoustic array detects;
2-2) when the AUV sends a control instruction as an AUV low-speed maneuverability detection instruction and the folding and unfolding mechanism is of a rigid folding and unfolding structure, the controller controls the driving motor according to the array state parameters to enable the folding and unfolding mechanism to keep a unfolding state, and the hydrophone acoustic array detects;
2-3) when the AUV sends a control instruction as an AUV low-speed maneuverability detection instruction and the folding and unfolding mechanism is of a flexible folding and unfolding structure, the controller controls the driving motor according to the array state parameters to enable the folding and unfolding mechanism to keep a folding state, and the hydrophone acoustic array detects;
2-4) when the AUV sends a control instruction as an AUV high-speed maneuverability detection instruction, the controller controls the driving motor according to the array state parameters to enable the folding and unfolding mechanism to keep a folding state, and the hydrophone acoustic array detects.
10. The detection method of the power folding passive sonar detection device of the underwater robot according to claim 8, wherein the acoustic array acquisition processing unit processes the electric signal of the hydrophone acoustic array in real time to obtain the target azimuth information, specifically:
step 1: the method comprises the steps that an acoustic array acquisition unit transmits acquired signals to an embedded CPU in frames, the dimension of a data matrix X of each frame is NxL, N represents the number of acoustic array elements, and L represents the number of snapshots required by processing;
step 2: for each frame of data, the covariance matrix R of the received signal is obtained xx The method comprises the following steps:
wherein [ (S)] H Represents a conjugate transpose;
step 3: for R xx And (3) performing eigenvalue decomposition, namely:
R xx ＝UΛU H ＝U S Λ S U S H +U N Λ N U N H
wherein U is S Is an N multiplied by K dimensional signal feature vector matrix; u (U) N A noise eigenvector matrix of N x (N-K) dimension; Λ type S A K multiplied by K diagonal matrix is corresponding to the signal characteristic value; Λ type N Corresponding (N-K) x (N-K) dimensional diagonal matrix for noise characteristic value;
step 4: constructing a guiding vector of the angle scanning space, which is specifically as follows:
wherein θ k ∈[-π,π]K=1, 2, … M denotes the spatial spectrum scanning azimuth, Φ k ∈[0,π]K=1, 2, … M denotes the spatial spectrum scan pitch angle, M denotes the number of angles scanned, f 0 Is the signal center frequency, c is the acoustic velocity in water, (x) i ,y i ,z i ) Representing the coordinates of the ith array element;
step 5: calculating a spatial spectrum, namely:
the corresponding angles of the spectrum peaks of the spatial spectrum are the azimuth angle and the pitch angle of the target.
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