KR20220071449A - Portable 3d sonar for harbor surveillance and harbor surveillance method usning the same - Google Patents

Abstract

The present invention relates to a three-dimensional portable diver sensing sonar for harbor surveillance and a harbor surveillance method using the same. According to the present invention, significant sensing performance improvement can be achieved by means of a multi-channel underwater sensor with increased reception sensitivity and an operator console capable of multi-channel, large-capacity, and high-speed signal processing and capable of forward three-dimensional image calculation even during stopping or settling. The three-dimensional portable diver sensing sonar for harbor surveillance of the present invention includes: an underwater sensor configured with a single-crystal material and including a sound signal transmitting sensor and a reflected signal receiving sensor; an operator console performing multi-channel signal processing on a signal received from the receiving sensor and connected to the underwater sensor by an underwater cable; an image control unit including a display part receiving data from the operator console and displaying a three-dimensional image; and a motion adjustment unit adjusting a motion of the underwater sensor by receiving a command from the operator console.

Description

3D portable diver detection sonar for harbor monitoring and harbor monitoring method using the same

The present invention relates to a three-dimensional portable diver detection station for harbor monitoring and a harbor monitoring method using the same. It relates to a 3D portable diver detection station for port monitoring, which significantly improves detection performance through an operator console capable of calculating a forward 3D image even during settling or settling, and a port monitoring method using the same.

Since electromagnetic waves do not travel well underwater, an image is generally acquired using sound navigation and ranging (SONAR) using an acoustic signal. The principle of underwater image acquisition using sonar is to oscillate a transmitted signal using a transducer sensor that converts an electrical signal into an acoustic signal. After receiving the signal, the intensity of the target reflected signal is displayed through post-processing such as beamforming.

And the sonar is divided into a passive sonar that detects a noise source generated by a target, and an active sonar that transmits sound waves and detects a target using a signal reflected from the target. In order to do this, various types of sonars (Sound Navigation And Ranging) have been developed and operated, but it is common to operate with a limited detection range due to constraints such as physical specifications of acoustic sensors used in actual sonar.

Among them, the imaging sonar using the sonar system for forward detection is a device for estimating target information by emitting a transmission signal by forming a transmission/reception beam forward in the water, and acquiring a signal that is reflected back from the target in front. It has the advantage of rapidly generating an ultrasound image in the measurement area by relatively increasing the signal-to-noise ratio.

On the other hand, the device used for such a sonar uses PZT ceramic, so there is a problem that a large amount of piezoelectric material must be used to secure the required level of sensitivity. There is a problem with opposition.

The present invention has been devised to solve the above problems, and it is an object of the present invention to provide a three-dimensional portable diver detection sonar capable of realizing light weight by reducing volume and weight, and in addition to it.

In addition, it aims to provide a three-dimensional portable diver detection sonar with improved transmission/reception sensitivity characteristics, broadband use by extending the frequency range, and long-term application to port monitoring stations and mine-clearing ROVs.

A three-dimensional portable diver detection sonar for port monitoring according to the present invention for the purpose of solving the above problems, including a transmitting sensor for transmitting an acoustic signal and a receiving sensor for receiving a reflected signal, an underwater sensor composed of a single crystal material and a display part that performs multi-channel signal processing on the signal received from the receiving sensor, an operator console connected to the underwater sensor and an underwater cable, and receives data from the operator console to display a three-dimensional image It includes an image control unit, and a motion control unit for adjusting the motion of the underwater sensor in response to a command from the operator console.

In addition, the single crystal material is PMN-PT(Pb(Mg _1/3 Nb _2/3 )O ₃ -PbTiO ₃ ) and PIN-PMN-PT(Pb(In _1/2 Nb _1/2 )O ₃ -Pb(Mg) _1/3 Nb _2/3 )O ₃ -PbTiO ₃ ).

In addition, the harbor monitoring method for harbor monitoring using a three-dimensional portable diver detection sonar is an installation step of installing the operator console on the breakwater, and installing the underwater sensor and the motion control equipment in the harbor, and the underwater sensor detects the target A target detection step of sensing, a signal processing step of processing the sensed signal as a multi-channel signal, and a display step of converting the multi-channel signal-processed signal into a three-dimensional image and displaying the converted signal.

In addition, it further includes a housing housing the operator console, the housing, an upper cover having a fastening hole at one end, and a side cover that is rotatably connected to the lower side from the other end of the upper cover and includes a locking part at the lower end. a first housing including a first housing, a second housing including a lower base and a sidewall connected upwardly from one end of the base, and a button block embedded in the second housing and exposed to the upper portion of the sidewall and inserted into the binding hole and a locking means including a locking part provided at the other end of the base and coupled to the locking part, and a releasing part for releasing the coupling of the locking part and the locking part by pressing the button block, wherein the locking part an entry groove opened to one side and a locking groove formed on an inner side surface of the entry groove, wherein the locking part is moved by the release part and inserted into the entry groove and the locking pin is built into the locking pin It includes a locking pin protruding from the side of the locking groove inserted into the.

The present invention having the above configuration, steps and characteristics realizes light weight by reducing cost, volume, and weight, and in addition, has the effect of being portable.

In addition, it has the effect of improving the transmission/reception sensitivity characteristics and enabling broadband by extending the frequency range used.

1 is a diagram showing the configuration of a detection sonar according to the present invention.
2 is a flowchart of a port monitoring method;
3 is a conceptual diagram of a single crystal composite.
4 is a view showing a process of forming a single crystal composite.
5 and 6 are views showing the installation location and operation concept.

Since the present invention can have various changes and can have various forms, implementation examples (態樣, aspects) (or embodiments) will be described in detail in the text. However, this is not intended to limit the present invention to the specific disclosed form, it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention.

The terminology used herein is only used to describe a specific embodiment (aspect, aspect, aspect) (or embodiment), and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present application, terms such as comprises or consists of are intended to designate that the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification exist, but one or more other features It is to be understood that it does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

~1~, ~2~, etc. described in the present specification are only to be referred to to distinguish that they are different components, and are not limited to the order of manufacture, and their names in the detailed description and claims of the invention are may not match.

The present invention relates to a three-dimensional portable diver detection station for harbor monitoring and a harbor monitoring method using the same. It relates to a 3D portable diver detection station for port monitoring, which significantly improves detection performance through an operator console capable of calculating a forward 3D image even during settling or settling, and a port monitoring method using the same.

Looking at the configurations with reference to FIG. 1, first looking at an underwater sensor including a transmitting sensor for transmitting an acoustic signal and a receiving sensor for receiving a reflected signal, the underwater sensor transmits an acoustic signal in water, and receives the reflected signal It receives and transmits the result of primary signal processing to an operator console, which will be described later.

Obviously, the transmitting sensor is a component that transmits an acoustic signal, and the receiving sensor corresponds to a component that receives the reflected signal. And it further includes a first signal processing part, which is a configuration that can perform the primary signal processing of the received signal and communication with the operator console.

In addition, the underwater sensor may be connected to the operator console with an underwater cable, thereby receiving power from the operator console, and being able to control transmission/reception of sound signals by the operator console.

In addition, the underwater sensor may convert an electrical signal into an acoustic signal or convert an acoustic signal into an electrical signal in order to transmit an acoustic signal to the seabed or the like or to receive a signal reflected by them. Transducers and amplifiers commonly used for this purpose , an analog/digital converter, etc. may be included, of course.

And the underwater sensor may include a single crystal material, the single crystal material is a piezoelectric single crystal material PMN-PT (Pb(Mg _1/3 Nb _2/3 )O ₃ -PbTiO ₃ ) and PIN-PMN-PT (Pb) (In _1/2 Nb _1/2 )O ₃ -Pb(Mg _1/3 Nb _2/3 )O ₃ -PbTiO ₃ ) may be included. Unlike conventional PZT ceramics, these single crystal materials have different piezoelectric properties depending on the composition and crystal direction of the piezoelectric single crystal, so it is possible to easily design the underwater sensor design according to the different piezoelectric properties, which is suitable for the environment in which the underwater sensor is used. It means that it can be designed by determining the optimal composition and crystal direction for

Here, k is an electromechanical coupling coefficient, which can be classified into k ₁₅ , k ₃₂ , k ₃₃ , etc. depending on the vibration mode, and is a notation used in the sense commonly used in the industry. In addition, <001>, <011>, and <111> refer to polarization directions and are notations commonly used in the relevant industry.

In addition, the piezoelectric properties of the conventional PZT ceramic and the single crystal material used in the present invention are compared as follows.

The biggest advantage in the application of piezoelectric single-crystal materials for hydroacoustic sensors is a higher piezoelectric constant and lower elastic modulus compared to conventional PZT ceramics. This means that in terms of sensors, not only high efficiency, high output, and broadband acoustic performance but also mechanical miniaturization and weight reduction are possible, which can lead to an increase in operational effectiveness and efficiency of ships or submarines equipped with sonar. Therefore, it is possible to manufacture a portable diver sonar through weight reduction or miniaturization.

As shown in Table 2, the main piezoelectric properties of the piezoelectric single crystal are 2-3 times superior to that of the PZT ceramic, while the piezoelectric voltage constant (g33), which determines the reception sensitivity of the sensor, is not significantly different from that of the PZT ceramic material. . This is because the piezoelectric single crystal has both a piezoelectric constant (d33) and a high dielectric constant, and the piezoelectric voltage coefficient is proportional to the piezoelectric constant and inversely proportional to the dielectric constant, thus causing a trade off effect.

However, if the piezoelectric single crystal and the polymer are properly arranged, the value of the piezoelectric voltage coefficient can be significantly improved by increasing the electromechanical coupling coefficient and lowering the dielectric constant without significantly sacrificing the piezoelectric constant.

In relation to this, looking at Table 3, it can be seen that the physical properties are improved as follows.

And for reference, kt represents the electromechanical coupling coefficient parallel to the polarization direction of the piezoelectric single crystal material. Looking at Table 3, the piezoelectric voltage coefficient value of the PMN-PT single crystal composite is about 4 times higher than that of the existing PMN-PT single crystal. Able to know. That is, as shown in FIG. 3 , a piezoelectric single crystal composite is preferably used as the single crystal material.

Here, the piezoelectric composite is made by combining a material with excellent piezoelectric performance and a polymer material with low acoustic impedance. In order to further improve the piezoelectric performance such as the electromechanical coupling coefficient of the piezoelectric composite and the acoustic properties such as acoustic impedance, bubbles are sometimes used to form bubbles in the polymer material combined with the piezoelectric composite by a physical or chemical method.

And, as shown in FIG. 4, the formation method of forming the piezoelectric single crystal composite is as follows.

First, grooves are formed in the piezoelectric substrate 10 , and after preparing the piezoelectric substrate 10 , the grooves are formed horizontally and vertically in the piezoelectric substrate 10 using a dicing saw or the like.

Next, after mixing the hollow spheres 30 with the polymer resin 20 , the hollow spheres 30 are filled in the grooves formed on the piezoelectric substrate 10 .

Next, after curing the polymer resin 20 filled in the grooves formed on the piezoelectric substrate 10 , the piezoelectric substrate 10 is polished.

Next, after curing the polymer resin 20 filled in the groove of the piezoelectric substrate 10, the bottom of the piezoelectric substrate 10 is polished, and then electrodes 40 are formed on both sides of the piezoelectric substrate 10, polarize.

In addition, the electrode 40 may be formed on both surfaces of the piezoelectric substrate 10 using a conductor such as gold, silver, lead, or nickel.

In addition, the underwater sensor may have a plurality of arrangements in order to radiate or receive in a direction of a preset range, and a detailed description of the arrangement method will be omitted.

Next, a multi-channel signal processing is performed on the signal received from the receiving sensor, and an operator console connected to the underwater sensor and the underwater cable will be described.

First, it controls the acoustic signal transmission/reception of the underwater sensor, and includes a control part for supplying power to the underwater sensor, where controlling the acoustic signal transmission/reception of the underwater sensor means controlling the reception sensitivity of the underwater sensor, etc. means to do In addition, of course, the control part controls power supply and the like.

The operator console includes a second signal processing part for secondary signal processing the signal received from the first signal processing part, and the second signal processing part performs multi-channel signal processing.

And it further includes a communication part for performing communication with the underwater sensor and the image control unit, which enables multi-channel communication.

And additionally, a signal amplification part for amplifying the transmission signal of the transmission sensor, a high voltage supply part for supplying high voltage, a console cable providing a connection for communication and power supply in the operator console, and for physical protection of the operator console It may further include a housing and a fixing unit for mounting on a breakwater or a ship.

Next, an image control unit including a display part for receiving data from the operator console and displaying a three-dimensional image will be described.

First, the image controller includes a third signal processing part for receiving the signal-processed data from the second signal processing part and processing the signal into a 3D image. The third signal processing part may include a Gaussian filter to remove noise, and may further include a coordinate extraction part for extracting height information or 3D coordinate information of an object.

In addition, the data signal-processed into a 3D image is generated as a 3D image by the image generating part. And as described above, the three-dimensional image generated in this way can be displayed by the display part.

And, of course, a computer-readable recording medium in which a program (operator SW) for realizing a functional unit such as an image control unit is recorded may be provided.

And, as shown in FIG. 5, the underwater sensor and the motion control unit may be provided in water, and the operator console and the image control unit may be provided on land.

Next, looking at the motion control unit that adjusts the motion of the underwater sensor in response to the command of the operator console, the motion control unit is the azimuth angle of the underwater sensor so that the underwater sensor can perform detection without being disturbed by the subsea topography or structure. and a configuration for controlling the elevation.

The motion adjusting unit includes an azimuth control part for controlling the azimuth of the underwater sensor and an elevation control part for controlling the elevation angle of the underwater sensor.

Next, as shown in FIG. 2 , a port monitoring method for port monitoring using a three-dimensional portable diver detection sonar will be described as follows.

First, as shown in FIG. 6 , the operator console is installed/fixed on a breakwater or a ship, and the underwater sensor and the motion control equipment are installed in a harbor (S1). Here, it may be fixed to a breakwater or a ship by the fixing unit of the operator console, and a detailed description of the fixing unit will be omitted here.

Next, the underwater sensor includes a target detection step (S2) in which the target is detected, wherein the detection of the target is performed using the transmitting sensor and the receiving sensor of the underwater sensor, as described above, and is the same as the mechanism of a general sonar. A detailed description of the bar will be omitted.

Next, it includes a signal processing step (S3) of multi-channel signal processing of the sensed signal, wherein the signal processing step (S3) lowers the signal-to-noise ratio of the target signal by noise such as reverberation, so that the underwater target is This is done to overcome the degradation of detection performance. As described above, a Doppler filter or the like may be used.

Next, it includes a display step (S4) of converting the multi-channel signal-processed signal into a three-dimensional image and displaying it, wherein the conversion into a three-dimensional image may be performed by employing a 3D imaging technology in the art. .

Meanwhile, the housing in which the operator console is built will be described in detail. In the case of a conventional housing, it is difficult to open the housing cover when the user is holding an object in both hands, and in particular, in the case of a portable detection sonar, a situation in which a user must move while carrying a lot of equipment may occur frequently. Therefore, it should be possible to easily open the housing cover in a one-touch method with only one finger.

And, hereinafter, for convenience of explanation, one side (or one end) is defined as the right (or right end), and the other (or the other end) is defined as the left (or left end), and FIGS. 7 a and b Each of the left enlarged views corresponds to a schematic explanatory view of the lateral cross-sectional view, and the right enlarged view corresponds to a schematic explanatory view of the view viewed from above.

7, the housing includes an upper cover (L10b) having a binding hole at one end, and a side cover (L10b) rotatably connected to the lower side from the other end of the upper cover (L10b) and including a locking part at the lower end ( It includes a first housing (L1) including L10a), and a second housing (L2) including a lower base and a side wall (L20a) connected upwardly from one end of the base.

For convenience of explanation, the second housing (L2) is described first, the second housing (L2) includes a locking means to engage/disengage with the first housing (L1), wherein the locking means includes the second housing ( It includes a button block (L21) embedded in the L2), exposed to the upper portion of the side wall (L20a) and inserted into the binding hole. And this button block (L21) is provided at the lower end of the button block (L21), the actuator (L21b) having an upward inclination toward one side is in contact with the release block (L22) to be described later, the button of the button block (L21) When the user presses the part (L21a), the button block (L21) goes down along the slope of the release block (L22) so that the release block (L22) can be pushed to one side, and when the button part (L21a) is released, the release block (L22) This will be pushed to the other side. And to realize this operation process, the release block (L22) has a slope corresponding to the shape of the actuator (L21b) and has a slope whose upper end is in contact with the lower end of the actuator (L21b).

Next, the locking means includes a release part for releasing the coupling of the locking part and the locking part by pressing the button block (L21), and this release part includes the actuator (L21b) and the release block (L22) described above, As will be described later, as the release block L22 moves to one side by the descent of the button block L21, the coupled state may be released.

And the unlocking unit of the locking means includes a push block (L25) provided to be partially exposed to the upper portion of the movable surface on which the release block (L22) moves, wherein the movable surface is the base upper end (L20c) and the base lower end (L20b). means the boundary of And the push block (L25) is exposed to the upper part of the movable surface when the release block (L22) is moved to one side by the descent of the button block (L21), and the release block (L22) by the rise of the button block (L21) When this is moved to the other side again, it is built into the inside of the movable surface. And in order for the release block (L22) to be moved by the push block (L25) on the movable surface, a return means including a spring coupled to the outside of one end must be provided, and as shown in FIG. 7, the release block ( A first spring (L24) is provided as a return means provided on the outer surface of one end of the L22).

Next, the locking means is provided at the other end of the base, and includes a locking part to be described later and a locking part coupled thereto. The locking part has an upper end in contact with the lower end of the push block L25, and the push It includes a locking pin (L26) that can move to the other end side by the descent of the block (L25). One end of the locking pin (L26) has a downward slope toward one side, and as described above, it can be moved to the other side by the descent of the push block (L25). ). (Of course, in this case, the button block L21 rises upward, and the release block L22 moves to the other side.) It includes a locking pin (L261) built into the other side and protruding to the side of the locking pin (L26). This locking pin (L261) is inserted into a locking groove (L111) to be described later so that the locking part and the locking part can be coupled. there will be In addition, the side surface here means a direction that penetrates through FIG. 7, and the other side, which will be described later, refers to a direction that penetrates through FIG. 7 .

And one end of the lock pin (L26) is provided with a return means including a spring on the outer surface, when the push block (L25) rises again, by returning to the original position, the coupling state can be released. And in this release process, first of all, the locking pin L261 should be able to escape from the locking groove L111. This is because the elastic force of the spring coupled to one side of the locking pin L26 is the locking pin L261. It is realized by providing stronger than the elastic force of the spring coupled to the outer surface of the other side of the. And, as shown in FIG. 7 , a second spring L262 is provided as a return means provided on one end of the outer surface of the locking pin L26, and as a return means provided on the inner surface of the other side of the locking pin L261. A third spring L263 is provided.

Therefore, when the user wants to release the coupled state, if the user presses the button portion (L21a), the button block (L21) descends while the release block (L22) moves to one side, and as the release block (L22) moves to one side, the base As the push block (L25) built into the lower end (L20b) rises, the locking pin (L26) exits the locking groove (L111) and at the same time the locking pin (L26) exits the entry hop (L11), the coupling is released it can be In addition, in order to create a coupled state, the user has to contact the side cover L10a to the base while pressing the button part L21a and then release the pressed button part L21a. Of course, in this case, It is realized by moving the components in the opposite direction.

Next, as described above, the first housing L1 includes an upper cover L10b having a fastening hole at one end, and the button block L21 can be inserted into the fastening hole.

And the first housing (L1) includes a side cover (L10a) that is rotatably connected to the lower side from the other end of the upper cover (L10b). It should be pivotally coupled to a pivoting means provided at the other end of the upper cover (L10b). And for such a rotation means, it is not necessary to be limited to a specific embodiment, and any configuration capable of providing rotation coupling may be used.

Next, the side cover (L10a) includes a locking part at the lower end. As described above, the locking part has an entry groove (L11) opened to the other side so that the lock pin (L26) of the lock part can be inserted and the locking pin (L261). ) includes a locking groove (L111) formed on the inner side of the entry groove (L11) to be inserted. And obviously, these entry grooves (L11) and locking grooves (L111) have a shape corresponding to the shape of the locking pin (L26) and the locking pin (L261), respectively, and as described above, the locking part and the locking part are engaged/unlocked. it can be

The present invention described above with reference to the accompanying drawings is capable of various modifications and changes by those skilled in the art, and such modifications and changes should be construed as being included in the scope of the present invention.

10: piezoelectric substrate 20: polymer resin
30: hollow sphere 40: electrode
S1: Installation phase S2: Target detection phase
S3: signal processing stage S4: display stage

Claims (4)

An underwater sensor comprising a transmitting sensor for transmitting an acoustic signal and a receiving sensor for receiving a reflected signal, made of a single crystal material;
an operator console that performs multi-channel signal processing on the signal received from the receiving sensor, and is connected to the underwater sensor with an underwater cable;
an image controller including a display part for receiving data from the operator console and displaying a three-dimensional image; and
a motion control unit receiving a command from the operator console and adjusting the motion of the underwater sensor;
A three-dimensional portable diver detection station comprising a.
The method according to claim 1,
The single crystal material is PMN-PT(Pb(Mg _1/3 Nb _2/3 )O ₃ -PbTiO ₃ ) and PIN-PMN-PT(Pb(In _1/2 Nb _1/2 )O ₃ -Pb(Mg ₁ ) _/3 Nb _2/3 )O ₃ -PbTiO ₃ ) A three-dimensional portable diver detection station comprising a.
In the harbor monitoring method of harbor monitoring using the three-dimensional portable diver detection sonar according to claim 1,
An installation step of installing the operator console on the breakwater, and installing the underwater sensor and the motion control equipment in a harbor;
a target detection step in which the underwater sensor detects a target;
a signal processing step of multi-channel signal processing on the sensed signal; and
a display step of converting the multi-channel signal-processed signal into a three-dimensional image and displaying the converted signal;
A harbor monitoring method for harbor monitoring using a three-dimensional portable diver detection sonar comprising a.
The method according to claim 1,
Further comprising a housing in which the operator console is built,
The housing is
A first housing including an upper cover having a binding hole at one end, and a side cover rotatably connected to a lower side from the other end of the upper cover and including a locking part at the lower end;
a second housing including a lower base and a side wall connected upwardly from one end of the base; and
A button block embedded in the second housing and exposed to the upper portion of the side wall and inserted into the binding hole, a locking part provided at the other end of the base and coupled to the locking part, and the button block by pressing the button block a locking means including a locking part and a releasing part for releasing the coupling of the locking part;
The locking unit includes an entry groove opened to one side and a locking groove formed on an inner side surface of the entry groove,
wherein the locking part comprises a locking pin moved by the release part and inserted into the entry groove, and a locking pin embedded in the locking pin, protruding from the side of the locking pin, and inserted into the locking groove. A portable diver's beacon.

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