RU110503U1 - HYDROACOUSTIC SYSTEM OF UNDERWATER NAVIGATION FOR DIVERS AND THE UNDERWATER DIVER UNIT - Google Patents

Abstract

 1. Hydroacoustic system of underwater navigation for divers, comprising a providing vessel with equipment located on it, at least one lighthouse, a hydroacoustic receiver, an external navigation system receiver, a depth determination device, a timer, a display device, characterized in that it is additionally introduced the first sonar transceiver located on the supply vessel, an underwater diver unit that contains an echo sounder, a doppler log, at least one biometric sensor, heading sensor, roll, trim, second receiver of the external navigation system, second sonar transceiver, depth gauge, timer, computing unit that calculates the current coordinates from the data received from the echo sounder, Doppler lag, heading sensor, roll, trim, external receivers navigation system, while the display device is configured to display the current trajectory and a given route of movement of at least one diver between the supporting vessel m, by the diver and the object of search, and the beacons are made in the form of responder beacons located on the divers, the sonar transceiver is located on the supply vessel and is configured to request and receive information from the responder beacons, while the input of the computing unit is connected to the echo sounder outputs, doppler -lag, biometric sensor, heading sensor, roll, trim, second receiver of the external navigation system, depth detection device, timer, one of the outputs of the computing unit is connected to the second hydroac

Description

The utility model relates to hydroacoustic systems for underwater navigation and is designed to accurately determine the location of divers, move along a given route, to increase safety and to exclude disturbances in the life of divers during work and being under water, can be used both when swimming freely and when installed on diving vehicle.

The known "System for determining the location and range for divers" (Patent No. US 2007140057 (A1), publ.: 2007-06-21), in which the system for divers indicates to the diver the position and range relative to the current location of the vessel. The system for divers includes a transmitter, a receiver, a monitor, and a depth sensor combined with a receiver or monitor. A diver can attach the monitor to a comfortable part of the body (such as the wrist), or to a buoyancy compensator. The transmitter is located on the ship and emits a coded message at a frequency suitable for transmission through water. The receiver module carries a diver (for example, attached to a diver's scuba gear), and it includes three receivers that independently receive an encoded message from the transmitter. The logic circuitry in the receiver performs triangulation processing on the received signals. In addition, by the amplitude of the received signals, the logic circuit can determine the distance to the transmitter. The monitor displays the depth of the diver, the distance to the transmitter (boat), and the arrow that indicates the direction to the transmitter (vessel). If the transmitter antenna is underwater, but near the surface of the water, the receiver logic can calculate the horizontal distance to the vessel using the depth information obtained from the depth sensor and the known distance from the transmitter. As another example, a plurality of transmitters may be located on the seabed to form a direction of travel for divers. In addition, many portable transmitters can be placed by divers in strategic locations. Consequently, transmitters can be used to indicate the return path for divers, even if their direction is lost or their visibility is obscured by silt.

The disadvantage of this invention is the ability of the system to display on the monitor only the direction to the ship and the inability to set the route.

The invention is known as a “Diver Computer” (Application No. WO 2005082707 (A1) Published: 2005-09-09), which can be used by a diver during a dive, including a time meter, by which a diving time can be measured, depth gauge by means of which the depth of immersion at which the diver is measured, a memory device for storing data and program steps, a calculator that determines the amount of time and depth of immersion in accordance with at least one data second program, monitor, showing the measured values obtained by the above-mentioned measuring devices.

The disadvantage of this invention is the lack of tasks and directions of the diver.

The invention is known "Terminal for a diver and method" (Patent No. KR 100761905 (B1), published: 2007-09-28, Published: 2007-09-28), which allows divers to check the positions of other divers during scuba diving. The terminal for the diver consists of a GPS (global navigation and positioning system) receiver installed in the terminal; a display display unit mounted on the outer surface of the terminal to show predetermined reference coordinates and diver position information obtained through the GPS receiver; a control unit mounted on the outer surface of the terminal to manually set reference coordinates performing various control, display functions; and a position information receiver located in the terminal to obtain position information about other terminals of a given group. The control unit transmits position information provided from the position information receiver to a display display unit.

The disadvantage of this invention is the lack of an indication of a given route and the current trajectory.

This invention is the closest technical solution to the claimed technical solution "Underwater block diver", ie prototype.

A useful model is known “Hydroacoustic system of underwater navigation for divers” (patent No. 97539, publ.: 09/10/2010), including a navigation base of many floating beacons (3) and a portable sonar receiver (2) for a diver (1). Each of the floating beacons (3) contains a receiver of the external navigation system (6), the receiving part (4) of which is installed above the surface of the water to determine the coordinates of its location in real time, and a sonar transmitter (5), configured to transmit a sonar signal including information on the current coordinates of the location of the floating beacon (3) to a portable sonar receiver (2). Portable sonar receiver (2) is configured to receive signals from sonar transmitters (5) of floating beacons (3), further calculate, based on the received signals, the current coordinates of the diver’s location (1) and display information regarding the calculated current coordinates of the diver’s location (1). The system is relatively simple during its installation and operation and allows not only with sufficiently high accuracy to determine the coordinates of the absolute location of the diver (1), but also its relative location, i.e. location relative to other surface or underwater objects (7, 9), equipped with appropriate transmitters (8, 10).

The disadvantage of this useful is the decrease in the accuracy of determining the coordinates in the presence of excitement, currents, the presence of floating beacons that impede navigation, and additional operations to arrange floating beacons.

This utility model is the closest technical solution to the claimed technical solution, i.e. a prototype.

The problem for which a useful model is proposed is to increase the accuracy of determining coordinates under difficult hydrometeorological conditions, the ability to specify the route of movement and the current trajectory of divers in both absolute and relative coordinate systems, the exclusion of equipment floating on the surface of the water, simplifying the operation of sonar underwater navigation systems.

This problem is solved by the creation of a hydroacoustic system of underwater navigation for divers, comprising a vessel with equipment located on it, at least one beacon, a sonar receiver, an external navigation system receiver, a depth determination device, a timer, a display device, into which the first sonar is additionally introduced a transceiver located on a supply vessel, an underwater diver unit that contains an echo sounder, a doppler log, at least one biometric sensor, heading sensor, roll, trim, second receiver of the external navigation system, second sonar transceiver, depth measuring device, timer, computing unit that calculates the current coordinates from the data received from the echo sounder, Doppler lag, heading sensor, roll , trim, receivers of the external navigation system, wherein the display device is configured to display the current path of motion and a given path of at least one diver between both a printing vessel, a diver and a search object, and the beacons are made in the form of responder beacons located on the divers, the sonar transceiver is located on the supply vessel and is configured to request and receive information from the responder beacons, while the input of the computing unit is connected to the echo sounder outputs, Doppler lag, biometric sensor, heading sensor, roll, trim, second receiver of the external navigation system, depth detection device, timer, one of the outputs of the computing unit is connected with a second sonar transceiver, and the second output is connected to a display device.

In addition, the ship has a surface sonar station, and a diver has an underwater sonar station providing voice-activated sonar communication.

In addition, the GPS satellite system was used as receivers of the external navigation system.

In addition, the sonar transceiver is made portable.

This problem is also solved by creating an underwater diver unit containing a display device, a computing unit, which additionally includes an echo sounder, a doppler log, at least one biometric sensor, a heading sensor, roll, trim, a second receiver of the external navigation system, and a second sonar receiver -transmitter, device for determining the depth, timer, and the computing unit calculates the current coordinates from the data received from the echo sounder, Doppler lag, heading sensor, roll, trim, receiver of an external navigation system, a display device configured to display the current trajectory and a given route of movement of at least one diver between the supply vessel, the diver and the search object, while the input of the computing unit is connected to the outputs of the echo sounder, doppler lag, a biometric sensor, heading sensor, roll, trim, the second receiver of the external navigation system, a device for determining depth, a timer, one of the inputs of which is connected to the second sonar by the transmitter and the second output is connected to the display device.

The operation of the underwater navigation system for divers is illustrated by drawings.

Figure 1 is a diagram of the exchange of data in an underwater navigation system for divers. Figure 2 is a structural and functional diagram of an underwater diver unit. The hydroacoustic system of underwater navigation for divers (FIGS. 1, 2) comprises a supply vessel 1 with equipment located on it, at least one transponder beacon 2 located on divers 3, a hydroacoustic receiver 4 located on the supply vessel 1, an external receiver navigation system 5, the first sonar transceiver 6 located on the supply vessel 1, an underwater diver unit 7, which contains an echo sounder 8, doppler lag 9, at least one biometric sensor 10, heading sensor, roll, afferent 11, the second receiver of the external navigation system 12, the second sonar transceiver 13 with the possibility of transmitting a sonar signal, including information about the current coordinates of its location, a device for determining the depth of 14, a timer 15, a computing unit 16 that calculates the current coordinates from the data received from the echo sounder 8, Doppler lag 9, heading sensor, roll, trim 11, receivers of the external navigation system 5, 12, which use the GPS satellite system, the device expressions 17 configured to display the current trajectory and predetermined movement route, at least one diver between providing ship by a diver and object search. The input of the computing unit 16 is connected to the outputs of the echo sounder 8, doppler lag 9, biometric sensor 10, heading sensor, roll, trim 11, second receiver of the external navigation system 12, depth determination device 14, timer 15, one of the inputs of which is connected to the second sonar transceiver 13, and the second output is connected to the display device 17. On the vessel there is a surface sonar station 18, and on the diver there is an underwater sonar station 19 that provide voices th sonar communications.

The diver holds the underwater diver unit 7 during navigational work. Hydroacoustic transceivers 6, 13 provide the exchange of digital information between the supplying vessel 1 and the divers 3. The hydroacoustic transceiver 4 can be performed in a portable design.

The device operates as follows.

In a given area for the production of underwater technical operations, a support vessel 1 with a hydro-acoustic receiver-emitter 4 located on it, a receiver of the external navigation system 5, which can be used as a GPS satellite system, which determines the geographical coordinates of the vessel and transmits them through the first hydro-acoustic receiver, is located transmitter 6 to the underwater unit of the diver 7, the surface station of sonar communication 18, providing sound communication between the diver 3 and the providing vessel 1. Aquola 3 at the initial point of descent (from above the water surface), and an arbitrary point on ascent route, via the second external receiver of the navigation system 12 determines the coordinates in the initial (or arbitrary for the ascent) of descent point. The descent can be carried out both from the supporting vessel, and from another vessel or from the shore. On diver 3, there is one transponder beacon 2, an underwater sonar station 19 and in his hands he holds an underwater diver unit 7. The system allows the coordinates of several divers to be recorded. The obtained coordinates of the starting point of the descent are entered into the computing unit 16, then the coordinates of the points of movement along the route are set and also entered into the computing unit 16. On the screen of the display device 17, a movement route appears indicating the course and distance to the first route point. When a diver moves, the screen shows the diver’s trajectory and the specified route.

The calculation of the path is made according to the data received from the sonar transceiver 4, which registers the signals from the beacon-transponder 2, located on the diver and from the receiver of the external navigation system 5, which are transmitted through the first sonar transceiver 6 and the second sonar transceiver 13 to the computing unit 12 , also from the Doppler lag 9, which gives the speed, direction and distance traveled by the diver for a certain time, from the heading sensor, roll, trim 11, the device for determining h bins 14 and the sounder 8. Calculus produced on the data from these devices can significantly improve the accuracy of determining the coordinates of the diver, consider the presence of underwater currents.

The geographic coordinates of the starting point of the diver's descent can be entered into the underwater diver unit 7 in manual mode or according to data from GPS navigation receivers. Doppler log 9 uses a four-beam emitter to determine the direction and speed of a diver underwater. It constantly emits and receives reflected hydroacoustic signals in real time, the parameters of which are used to calculate the speed of movement, the speed of underwater currents, and the height above the bottom. The heading sensor, roll, trim 11 is necessary to determine the azimuth, in addition there is the possibility of measuring position angles relative to the horizon (roll, trim). The sensor also allows you to set and return the current value of the azimuth shift and the value of magnetic declination (the difference between the direction to the geographic and magnetic poles of the Earth). The data obtained are necessary both for orienting the diver and calculating the distance traveled. It is also needed to control roll and trim. As a sensor of heading, roll, trim, the orientation system STC20 manufactured by STC Riesz CJSC, which is produced commercially, can be selected. Computing unit 16 uses the obtained data to reckon the distance traveled and determine the current coordinates. As the computing unit 16 can be used controller PM-US15W-Z530-R10.

The device for determining the depth of 14 is necessary to control the diver's depth of immersion and calculate the distance traveled by the diver (inclined range). The device transmits the received data to the computing unit 16 according to any of the data transfer protocols: RS-232 / RS-422 / RS-485. As a device for determining the depth, an SDV-I pressure transducer manufactured by NPK VIP can be selected, which is mass-produced.

As a display device 17, any 6.5 ”color liquid crystal display with a resolution of 640 × 480 (800 × 600) pixels with an input for connecting to the LVDS computing unit is suitable. For example, industrial LCD-panel DM-65GH / T-R manufactured by IEI (Taiwan).

A biometric sensor measures the heart rate, judges the physiological state of the diver by the value of the heart rate, and decides whether to continue or stop the dive. As such a sensor, a Wear Link sensor from Polar (Finland) can be used.

The operating modes of the product provide a diver’s path display both when moving on GPS and when the diver moves according to the readings of the Doppler lag 9. During the movement, the readings of the compass built into the product and the distance to the required point are necessarily displayed. Given the complexity and psychological burden of a diver while underwater, the modes of operation of the product are switched by simply pressing the control button located on the underwater block of the diver. Moreover, regardless of the selected active mode and the associated group of sensors and devices, all inactive modes also constantly operate. The fulfillment of this requirement ensures that there is no delay in the display of data when switching operating modes.

Before diving, the diver has the ability to configure the system’s operating modes depending on the task and check the connected equipment. During the dive, the diver has the ability to make changes to the settings of the product using the keyboard. Management of the system’s operating modes, interfacing of all connected sensors and devices provide the software part of the system.

Thus, this system allows the collection, processing, display for the leader of diving descents and diver data on the diving parameters and the location of the diver in real time and documenting information from equipment items (Doppler log, satellite navigation system, etc.), as well from built-in sensors of angular position (heading, roll, trim), GPS and depth, which increases the accuracy of determining coordinates under difficult hydrometeorological conditions, eliminates the presence of equipment, melt boiling on the water surface simplifies the operation of sonar system underwater navigation.

Claims (5)

1. Hydroacoustic system of underwater navigation for divers, comprising a providing vessel with equipment located on it, at least one lighthouse, a hydroacoustic receiver, an external navigation system receiver, a depth determination device, a timer, a display device, characterized in that it is additionally introduced the first sonar transceiver located on the supply vessel, an underwater diver unit that contains an echo sounder, a doppler log, at least one biometric sensor, heading sensor, roll, trim, second receiver of the external navigation system, second sonar transceiver, depth gauge, timer, computing unit that calculates the current coordinates from the data received from the echo sounder, Doppler lag, heading sensor, roll, trim, external receivers navigation system, while the display device is configured to display the current trajectory and a given route of movement of at least one diver between the supporting vessel m, by the diver and the object of search, and the lighthouses are made in the form of responder beacons located on the divers, the sonar transceiver is located on the supply vessel and is configured to request and receive information from the responder beacons, while the input of the computing unit is connected to the echo sounder outputs, doppler -lag, biometric sensor, heading sensor, roll, trim, second receiver of the external navigation system, depth determination device, timer, one of the outputs of the computing unit is connected to the second hydraulic actuator a static transceiver, and the second output is connected to a display device. 2. The hydroacoustic system according to claim 1, characterized in that the vessel has a surface sonar station, and a diver has an underwater sonar station providing voice-activated sonar communication. 3. The hydroacoustic system according to claim 1, characterized in that the GPS satellite system is used as receivers of the external navigation system. 4. The hydro-acoustic system according to claim 1, characterized in that the hydro-acoustic transceiver is made portable. 5. An underwater diver unit containing a display device, a computing unit, characterized in that an additional echo sounder, a doppler log, at least one biometric sensor, a heading sensor, a roll, a trim, a second receiver of the external navigation system, and a second sonar are additionally introduced into it; a transceiver, a device for determining depth, a timer, and the computing unit calculates the current coordinates according to data received from an echo sounder, Doppler lag, heading sensor, roll, trim, receivers of external navigation system, a display device configured to display the current trajectory and a given route of movement of at least one diver between the supply vessel, the diver and the search object, while the input of the computing unit is connected to the outputs of the echo sounder, doppler lag, biometric sensor , heading sensor, roll, trim, the second receiver of the external navigation system, a device for determining depth, a timer, one of the inputs of which is connected to the second sonar transceiver, and the The swarm output is connected to a display device.