CN211076276U - Device for carrying out attitude conversion on tiny sonar array based on unmanned ship - Google Patents
Device for carrying out attitude conversion on tiny sonar array based on unmanned ship Download PDFInfo
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- CN211076276U CN211076276U CN201921128691.8U CN201921128691U CN211076276U CN 211076276 U CN211076276 U CN 211076276U CN 201921128691 U CN201921128691 U CN 201921128691U CN 211076276 U CN211076276 U CN 211076276U
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Abstract
The utility model discloses a device for posture conversion based on a tiny sonar array of an unmanned ship, wherein the unmanned ship is provided with a shipborne control module, a shipborne communication module, a hydraulic fluid storage cavity and a mercury storage cavity; the end in the tiny type tow-cable is equipped with a piston cylinder that has mercury storage chamber in hydraulic fluid storage chamber in the cable and the cable, is equipped with a hydraulic fluid communicating pipe and a mercury communicating pipe in the tiny type tow-cable, hydraulic fluid communicating pipe intercommunication hydraulic fluid storage chamber and cable in hydraulic fluid storage chamber, mercury storage chamber and cable in the mercury storage chamber of mercury communicating pipe intercommunication, the operating condition of ship-borne control module control hydraulic chamber band pole sealing piston and mercury chamber band pole sealing piston, and then the terminal counter weight of control tiny type tow-cable realizes the gesture conversion of tiny type sonar array. The utility model discloses can make the nimble, convenient conversion that carries out horizontal gesture or perpendicular gesture based on unmanned ship's tiny type sonar array, and then adapt to complicated waters environment and satisfy multiple task demand, promote detection efficiency.
Description
Technical Field
The utility model belongs to drag formula sonar array field especially relates to a tiny sonar array carries out device of horizontal gesture and vertical attitude conversion based on unmanned ship.
Background
The towed sonar array is widely applied to ocean military and national economic production, and plays an important role in underwater target detection and positioning.
The towed sonar array has the obvious advantages of large array aperture, wide observation area, small noise influence of a towed platform and the like, but has a lot of limitations. First, in order to reduce the noise (such as engine noise) effect of the towed platform, the towed sonar array needs to use a very long front section and elastic section to keep the underwater acoustic information sensing section away from the towed platform, but this will increase the weight and volume of the whole towed detection system, and will also occupy a large amount of storage space of the towed platform after the towed sonar array is recovered. Secondly, the operation process of laying and recovering the towed sonar array is complex, poor in flexibility, high in implementation difficulty and high in operation cost.
And the unmanned ship is combined with the tiny sonar array, so that the defects of the towed sonar array can be overcome. Firstly, compare with traditional platform of towing, unmanned ship self noise is extremely low, does not need very long preceding section and elasticity section to reduce and tow platform noise, can further reduce the target detection threshold value of towing sonar array detection system, promotes target detection performance. And secondly, the unmanned ship and the small sonar array system are small in size and low in cost. And the unmanned ship has the characteristic of flexible maneuvering, so that the observation area can be further enlarged, and the rapid and flexible laying and recovery can be realized.
However, the streamer in a small sonar array is parallel to the sea level and is located at the surface of the sea during operation, and the signal receiving direction of the geophone in the streamer is generally directed toward the sea bottom. Therefore, the detection effect of the signal positioned under the plane of the miniature sonar array is better. When the position of the signal source deviates from the signal receiving direction of the detector and is in a detection blind area of the fine sonar array, the signal source is difficult to detect, and the detection effect is poor. If the towline in the tiny sonar array extends along the direction vertical to the sea level and points to the sea bottom, the signal receiving direction of the detector in the tiny sonar array points to a distant place along the sea level, and the signal receiving range of the tiny sonar array can cover the blind area when the tiny sonar array is in the horizontal state, so that a better detection effect is achieved.
Therefore, design a tiny sonar array based on unmanned ship and carry out the conversion system of horizontal gesture and perpendicular gesture, make the horizontal cable of use and perpendicular cable that the activity of surveying can be reasonable nimble survey, this advantage that can two kinds of detection methods of full play promotes detection efficiency effectively, optimizes the detection achievement.
SUMMERY OF THE UTILITY MODEL
To the above-mentioned prior art, the utility model provides a change the device based on the level of unmanned ship's tiny type sonar array and perpendicular gesture makes the tiny type sonar array based on unmanned ship can be according to actual conditions, and nimble, convenient carries out the conversion of horizontal gesture or perpendicular gesture, and then adapts to complicated waters environment and satisfies multiple task demand, promotes detection efficiency.
In order to solve the technical problem, the utility model provides a device based on unmanned ship's tiny sonar array carries out gesture conversion, and unmanned ship drags a plurality of thin small-size towlines, and tiny towline is equipped with the wave detector in the cable, is equipped with on-board control module, on-board communication module, hydraulic fluid storage chamber and mercury storage chamber on the unmanned ship, be equipped with hydraulic pressure chamber area pole sealing piston in the hydraulic fluid storage chamber, be equipped with mercury chamber area pole sealing piston in the mercury storage chamber; the small-sized towing cable is characterized in that a hydraulic liquid communicating pipe and a mercury communicating pipe are arranged in the small-sized towing cable, one end of the hydraulic liquid communicating pipe is communicated with the hydraulic liquid storage cavity, one end of the mercury communicating pipe is communicated with the mercury storage cavity, the other end of the hydraulic liquid communicating pipe and the other end of the mercury communicating pipe are located at the tail end of the small-sized towing cable, and a piston cylinder is connected between the hydraulic liquid communicating pipe and the tail end of the mercury communicating pipe and connected with the piston cylinderA sealing piston is arranged in the cylinder, a chamber A positioned at one end of the sealing piston is communicated with the hydraulic fluid communicating pipe, the chamber A is recorded as a hydraulic fluid storage cavity in the cable, a chamber B positioned at the other end of the sealing piston is communicated with the mercury communicating pipe, the chamber B is recorded as a mercury storage cavity in the cable, and the sum of the volumes of the hydraulic fluid storage cavity in the cable and the mercury storage cavity in the cable is V1，
Wherein 13590kg/m3The mercury density is normal temperature and normal pressure, M is hydraulic fluid filled in a hydraulic fluid communicating pipe, metal mercury is filled in the mercury communicating pipe, a hydraulic fluid storage cavity in the cable and a mercury storage cavity in the cable are empty small towing cable underwater partial mass, F1Therefore, the thin small towing cable is subjected to buoyancy, and g is the gravity acceleration of the location of the unmanned ship; and the shipborne control module controls the working states of the hydraulic cavity sealing piston with the rod and the mercury cavity sealing piston with the rod according to the control instruction received by the shipborne communication module.
Further, the utility model discloses tiny type sonar array carries out gesture conversion's device based on unmanned ship, wherein, the hydraulic fluid of hydraulic fluid storage intracavity uses density under normal atmospheric temperature and the normal pressure to be 860kg/m3The hydraulic oil of (2).
The mercury communicating pipe is made of a mercury corrosion resistant material, and the pipe wall is closed.
The hydraulic liquid storage cavity and the mercury storage cavity are both positioned at the tail part of the unmanned ship.
Compared with the prior art, the beneficial effects of the utility model are that:
the tiny sonar array based on the unmanned ship is composed of a plurality of tiny towing cables parallel to the sea level, metal mercury is liquid under the normal temperature and the normal pressure, and the characteristic of large density is used as a counterweight, so that the single tiny towing cable in the tiny sonar array based on the unmanned ship can be flexibly and conveniently converted into horizontal and vertical postures, and further the whole tiny sonar array can be converted into the horizontal and vertical postures.
Drawings
Fig. 1 shows the utility model discloses a tiny type sonar array's top view based on unmanned ship.
Fig. 2 shows the utility model discloses a schematic diagram when tiny type sonar array's tiny type streamer is in the horizontality simultaneously for tiny type sonar array based on unmanned ship's tiny type sonar array's overall scheme structure of gesture conversion system based on unmanned ship.
Fig. 3 shows a vertical state diagram of a thin streamer in a thin sonar array based on an unmanned ship.
In the figure: the system comprises a 1-unmanned ship, a 2-shipborne control module, a 3-shipborne communication module, a 4-hydraulic chamber with rod sealing piston, a 5-hydraulic liquid storage chamber, a 6-mercury chamber with rod sealing piston, a 7-mercury storage chamber, an 8-tiny type towing cable, a 9-mercury communicating pipe, a 10-hydraulic liquid communicating pipe, an 11-in-cable hydraulic liquid storage chamber, a 12-sealing piston and a 13-in-cable mercury storage chamber.
Detailed Description
The present invention will be further described with reference to the following drawings and specific examples, but the following examples are by no means limiting the present invention.
As shown in fig. 1, the fine sonar array is composed of a plurality of fine streamers parallel to the sea level, and the unmanned ship 1 tows a plurality of fine streamers 8, that is, the fine streamers 8 are one fine streamer in the fine sonar array towed by the unmanned ship; the thin small-sized towing cable 8 is provided with an in-cable detector. The utility model relates to a tiny type sonar array based on unmanned ship carries out device's of gesture conversion design idea is, utilizes normal atmospheric temperature normal pressure under metal mercury be liquid, and the great characteristic of density, regards it as the counterweight, can make the small-size tow cable of single tiny type in the tiny type sonar array based on unmanned ship nimble, the convenient level that carries on, perpendicular gesture conversion, and then make whole tiny type sonar array realize level, perpendicular gesture conversion.
As shown in FIG. 2, the utility model provides a device that tiny type sonar array carries out gesture conversion based on unmanned ship, including unmanned ship 1, on-board control module 2, on-board communication module 3, hydraulic pressure chamber area pole sealing piston 4, hydraulic fluid storage chamber 5, mercury chamber area pole sealing piston 6, mercury storage chamber 7, tiny type tow-cable 8, mercury communicating pipe 9, hydraulic fluid communicating pipe 10, hydraulic fluid storage chamber 11 in the cable, mercury storage chamber 13 in sealing piston 12 and the cable.
The unmanned ship 1 is used for towing related components such as a tiny sonar array, a shipborne control module 2 in a bearing device, a shipborne communication module 3, a hydraulic liquid storage cavity 5, a mercury storage cavity 7 and the like; the hydraulic liquid storage chamber 5 and the mercury storage chamber 7 are both located at the aft part of the unmanned ship 1.
The shipborne control module 2 controls the working states of the hydraulic cavity sealing piston with rod 4 and the mercury cavity sealing piston with rod 6 according to the control instruction received by the shipborne communication module 3.
The shipborne communication module 3 is used for receiving operation related instructions such as attitude conversion commands and the like and transmitting the operation related instructions to the shipborne control module 2.
The hydraulic chamber with rod sealing piston 4 is arranged in a hydraulic liquid storage chamber 5, the hydraulic liquid storage chamber 5 is used for storing hydraulic liquid, and the density of the hydraulic liquid at normal temperature and normal pressure is 860kg/m3The hydraulic oil of (2); the mercury cavity with rod sealing piston 6 is arranged in the mercury storage cavity 7, and the mercury storage cavity 7 is used for storing metal mercury serving as a counterweight.
The tail end in the small towing cable is provided with a piston cylinder, a sealing piston 12 is arranged in the piston cylinder, the piston cylinder is divided into two chambers, one chamber is a hydraulic fluid storage chamber 11 in the cable, the other chamber is a mercury storage chamber 13 in the cable, and the sealing piston 12 is used for isolating the hydraulic fluid storage chamber 11 in the cable from the mercury storage chamber 12 in the cable and can change the position along with the volume change of the two chambers.
The mercury communicating pipe 9 and the hydraulic liquid communicating pipe 10 are both arranged in the small towing cable along the length direction of the towing cable, two ends of the mercury communicating pipe 9 are respectively connected to the mercury storage cavity 7 and the mercury storage cavity 13 in the cable and used for communicating the mercury storage cavity 7 with the mercury storage cavity 13 in the cable, and the mercury storage cavity 5, the mercury communicating pipe 9 and the mercury storage cavity 12 in the cable are mutually communicated, should be kept closed at the same time and can bear certain pressure; the mercury storage cavity 7, the mercury cavity sealing piston 6 with the rod and the mercury communicating pipe 9 are made of materials resistant to mercury corrosion, and good sealing performance is kept to prevent mercury vapor from escaping.
Two ends of the hydraulic fluid communicating pipe 10 are respectively connected to the hydraulic fluid storage chamber 5 and the in-cable hydraulic fluid storage chamber 11 for communicating the hydraulic fluid storage chamber 5 with the in-cable hydraulic fluid storage chamber 11, and the hydraulic fluid storage chamber 5, the hydraulic fluid communicating pipe 10 and the in-cable hydraulic fluid storage chamber 11 are communicated with each other, should be kept airtight at the same time, and can bear a certain pressure.
The hydraulic chamber rod seal piston 4 is used to change the volume of the hydraulic fluid storage chamber 5 and, correspondingly, the volume of the hydraulic fluid storage chamber 11 in the cable, and the mercury chamber rod seal piston 6 is used to change the volume of the mercury storage chamber 7 and, correspondingly, the volume of the mercury storage chamber 13 in the cable.
For the size of the piston cylinder arranged at the tail end of the small towing cable 8, metal mercury which is a counterweight enough for sinking the small towing cable 8 can be stored, and excessive cable space cannot be occupied; thus, the sum of the volumes of the mercury reservoir 13 and the hydraulic fluid reservoir 12 in the cable is at least V1The mercury density at normal temperature and pressure is 13590kg/m3The gravity acceleration of the location of the unmanned ship 1 is g, when the small towline 8 is in the state shown in fig. 2, the hydraulic liquid communicating pipe 10 is filled with hydraulic liquid, the mercury communicating pipe 9 is filled with metallic mercury, the hydraulic liquid storage cavity 11 in the cable is empty, and the mercury storage cavity 13 in the cable is empty, the mass of the underwater part of the small towline 8 is M, and the buoyancy force is F1Then V should be made1Satisfies the following conditions:
on the basis of the device, the posture conversion of the tiny sonar array based on the unmanned ship is realized, and the process is as follows:
when the thin small streamer is in a horizontal attitude, as shown in FIG. 2, the volume of the hydraulic fluid storage chamber 11 in the streamer is V2The volume of the mercury storage cavity 13 in the cable is V3Then V should be made2、V3Satisfies the following conditions:
after the shipborne communication module 3 receives an instruction for converting the fine sonar array into a vertical posture, the shipborne control module 2 controls the mercury cavity sealing piston 6 with the rod, so that the volume of the mercury storage cavity 7 is reduced by delta V. The metallic mercury of the counter weight with the volume of delta V is conveyed to a mercury storage cavity 13 in the cable from a mercury storage cavity 7 through a mercury communicating pipe 9, and the volume of the mercury storage cavity 13 in the cable is V at the moment3+ΔV
The resistance of the thin small towline 8 in the sinking process is F2Δ V should be made to satisfy:
at the same time, the shipboard control module 2 also controls the hydraulic chamber rod sealing piston 4 to increase the volume of the hydraulic liquid storage chamber 5 by deltaV and correspondingly decrease the volume of the hydraulic liquid storage chamber 11 in the cable by deltaV. At this time, the volume of the mercury metal in the mercury storage cavity 13 in the cable is increased by Δ V, so that the tail end of the small streamer 8 sinks after being weighted, and then is converted into a vertical posture. The small sonar array based on the unmanned ship can be converted from a horizontal posture to a vertical posture by performing the operation on all the small towlines forming the small sonar array.
When the small streamer is in a vertical attitude, as shown in fig. 3. After the shipborne communication module 3 receives an instruction for converting the fine sonar array into a horizontal posture, the shipborne control module 2 controls the hydraulic cavity with the rod sealing piston 4 to reduce the volume of the hydraulic liquid storage cavity 5 by delta V, correspondingly increase the volume of the hydraulic liquid storage cavity 11 in the cable by delta V, and change the volume of the hydraulic liquid storage cavity 11 in the cable into V2. Meanwhile, the shipborne control module 2 controls the mercury cavity with the rod sealing piston 6 to increase the volume of the mercury storage cavity 7 by delta V, metal mercury of a counter weight with the volume of delta V is conveyed to the mercury storage cavity 7 through the mercury communicating pipe 9 and the mercury storage cavity 13 in the cable, and the volume of the mercury storage cavity 13 in the cable is changed into V3The volume of the metal mercury in the mercury storage cavity 13 in the cable is reduced, and the tail end of the small towing cable rises after the weight of the tail end of the small towing cable is reduced until the small towing cable 8 turns to be in a horizontal posture. All the tiny towing cables forming the tiny sonar array are operated in the way, so that tiny sound based on the unmanned ship can be obtainedThe Na array is converted from a vertical posture to a horizontal posture.
Although the present invention has been described with reference to the accompanying drawings, the present invention is not limited to the above embodiments, which are only illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit of the present invention.
Claims (4)
1. A device for attitude conversion based on a tiny sonar array of an unmanned ship, a plurality of tiny towing ropes (8) are towed by the unmanned ship (1), the tiny towing ropes (8) are provided with in-cable detectors, and the device is characterized in that,
the unmanned ship (1) is provided with a shipborne control module (2), a shipborne communication module (3), a hydraulic liquid storage cavity (5) and a mercury storage cavity (7), a hydraulic cavity sealing piston (4) with a rod is arranged in the hydraulic liquid storage cavity (5), and a mercury cavity sealing piston (6) with a rod is arranged in the mercury storage cavity (7);
a hydraulic liquid communicating pipe (10) and a mercury communicating pipe (9) are arranged in the small towing cable (8), one end of the hydraulic liquid communicating pipe (10) is communicated with the hydraulic liquid storage cavity (5), one end of the mercury communicating pipe (9) is communicated with the mercury storage cavity (7), the other end of the hydraulic liquid communicating pipe (10) and the other end of the mercury communicating pipe (9) are both positioned at the tail end in the tiny towing cable, and a piston cylinder is connected between the hydraulic liquid communicating pipe and the mercury communicating pipe, a sealing piston (12) is arranged in the piston cylinder, a chamber A at one end of the sealing piston (12) is communicated with the hydraulic liquid communicating pipe (10), the chamber A is marked as an in-cable hydraulic fluid storage chamber (11), the chamber B at the other end of the sealing piston (12) is communicated with the mercury communicating pipe (9), the chamber B is marked as an in-cable mercury storage chamber (13), and the sum of the volumes of the in-cable hydraulic liquid storage chamber (11) and the in-cable mercury storage chamber (13) is V.1，
Wherein 13590kg/m3The mercury density is at normal temperature and normal pressure, M is hydraulic fluid filled in a hydraulic fluid communicating pipe (10), the mercury communicating pipe (9) is filled with metal mercury, a hydraulic fluid storage cavity (11) in the cable and a mercury storage cavity (13) in the cable are both empty and thin small towing cable underwater partial mass, F1Therefore, the thin small towing cable is subjected to buoyancy, and g is the gravity acceleration of the location of the unmanned ship;
and the shipborne control module (2) controls the working states of the hydraulic cavity sealing piston (4) with the rod and the mercury cavity sealing piston (6) with the rod according to the control instruction received by the shipborne communication module (3).
2. The unmanned ship based fine sonar array-based attitude conversion device according to claim 1, wherein the hydraulic fluid in the hydraulic fluid storage chamber (5) has a density of 860kg/m at normal temperature and pressure using hydraulic fluid having a density of 860kg/m at normal temperature and pressure3The hydraulic oil of (2).
3. The unmanned ship-based small sonar array attitude conversion device according to claim 1, wherein the mercury communicating tube (9) is made of a mercury corrosion resistant material, and the tube wall is closed.
4. The unmanned ship based small sonar array for attitude transformation according to claim 1, wherein the hydraulic fluid storage chamber (5) and the mercury storage chamber (7) are located at the tail of the unmanned ship (1).
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110406637A (en) * | 2019-07-18 | 2019-11-05 | 天津大学 | The method and apparatus that tiny type sonar array based on unmanned boat carries out posture conversion |
| CN115657690A (en) * | 2022-12-27 | 2023-01-31 | 武汉理工大学 | Stewart platform-based ship remote driving control holder and control method |
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2019
- 2019-07-18 CN CN201921128691.8U patent/CN211076276U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110406637A (en) * | 2019-07-18 | 2019-11-05 | 天津大学 | The method and apparatus that tiny type sonar array based on unmanned boat carries out posture conversion |
| CN115657690A (en) * | 2022-12-27 | 2023-01-31 | 武汉理工大学 | Stewart platform-based ship remote driving control holder and control method |
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