WO2020177036A1

WO2020177036A1 - Automatic sonar monitoring device

Info

Publication number: WO2020177036A1
Application number: PCT/CN2019/076766
Authority: WO
Inventors: 刘浩源; 郑瑞云; 黄晓红; 孙立晶; 田丙奇
Original assignee: 唐山哈船科技有限公司; 唐山圣因海洋科技有限公司
Priority date: 2019-03-01
Filing date: 2019-03-01
Publication date: 2020-09-10

Abstract

An automatic sonar monitoring device, comprising a mobile base station (1), connecting lines (3) and several monitoring devices (2), wherein the mobile base station (1) is connected to the several monitoring devices (2) by means of the connecting lines (3). A movable hull (11) structure is used to connect a plurality of seabed monitoring devices (2), and power supply equipment is disposed on the hull (11) to provide energy for sonar monitoring that may rise and fall in the water, so that the entire monitoring equipment may be used to monitor seabed conditions in a large range for a long time.

Description

Automatic sonar monitoring device

Technical field

The invention relates to the technical field of seabed monitoring, in particular to an automatic sonar monitoring device.

Background technique

The ocean is rich in resources and contains a large number of organisms. The research on seabed organisms can bring a lot of help to mankind. Therefore, it is very necessary to monitor seabed organisms.

However, because the seabed itself has little sunlight and organisms are highly resistant to light, using artificially turned on submarine-type observation equipment to enter the seabed will affect the entire seabed environment and cannot accurately monitor the true conditions of the seabed.

Summary of the invention

Aiming at the deficiencies of the prior art, the present invention proposes an automatic sonar monitoring device, which can monitor the seabed for long-term and large-scale detection and send the acquired information in time.

In order to achieve the above-mentioned purpose of the invention, the present invention provides the following technical solutions: an automatic sonar monitoring device, including a mobile base station, a connecting line and several monitoring devices, the mobile base station including a mobile hull, positioning equipment, power supply equipment, communications Equipment, power storage equipment, control devices, and unwinding and unwinding equipment, the positioning equipment, power supply equipment, communication equipment, power storage equipment and unwinding and unwinding equipment are all fixed on the mobile hull; the power supply equipment includes solar cells and The wind power generation equipment is connected to the power storage equipment to provide energy for the entire device; the positioning equipment determines the position of the mobile base station via the GPS positioning system, the communication equipment is wirelessly connected to the fixed base station, and the retractable The winding equipment includes a motor and a rotating shaft, and the motor drives the rotating shaft to rotate; the positioning equipment, power supply equipment, communication equipment, power storage equipment, and winding and unwinding equipment are all connected to the control device; several monitoring devices are The connecting line is connected to the mobile base station, and the connecting line is wound on the rotating shaft; the connecting line includes a transmission line and a data line; the monitoring device includes a sealed body, a sonar device, and a gas compressor, so The sealing body is provided with a high-pressure gas tank, the output end of the gas compressor is communicated with the high-pressure gas tank, the inlet end is provided in the sealing body, and the high-pressure gas tank is connected with a purge valve; the seal The main body is composed of two parts sealed and movably connected: when the two parts are close to the bottom, they sink into the seabed, and when they are far away, they float on the water surface; the sonar device is fixed on the upper surface of the sealed main body, and is connected to the control device via the data line, The gas compressor is connected to the control device; the power transmission line connects the power storage device, the sonar device, and the gas compressor.

Further, the monitoring device further includes a pusher, the pusher is fixed on the sealing body and connected with the control device.

Further, the mobile hull includes a power mechanism to drive the mobile base station to move on the water surface.

Further, the control device includes a memory to store the information obtained by the sonar device.

Further, an infrared camera connected to the control device is provided on the sealed body.

Further, the pusher is provided with at least one, and the controlled rotation is connected to the sealing body.

Further, the outer cover of the infrared camera device is provided with a transparent window.

Further, the controlled rotation connection is horizontal 0-180 degree rotation.

Further, the sealing body is composed of two hemispheres with asymmetric density distribution.

Further, the monitoring device further includes an ultrasonic detection device, which performs ultrasonic detection on the seabed, and is connected to the control device via the data line.

Compared with the prior art, the present invention has the following advantages: adopts a movable hull structure, connects multiple subsea monitoring devices, and is equipped with power supply equipment on the hull to provide energy for the sonar monitoring that can rise and fall in the water, so that the entire monitoring equipment can be long Monitor the conditions of the seabed over a large range of time.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, without creative work, other drawings may be obtained based on the structure shown in these drawings.

Figure 1 is a schematic diagram of the structure of the automatic sonar monitoring device of the present invention;

Icon mark:

1- mobile base station, 11- hull, 12- solar battery, 13- wind turbine, 14- storage battery, 15- motor, 16- shaft, 17- control device, 18- communication device, 19- propeller, 2- monitoring Device, 21-sealed shell, 22-high pressure gas tank, 23-gas compressor, 24-exhaust valve, 25-electric push rod, 26-folding pressure film, 27-propeller, 28-rotation shaft, 29- Sonar device, 3-connecting line, 4-infrared camera device, 5-ultrasonic detection device.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

It should be noted that if there is a directional indication (such as up, down, left, right, front, back...) in the embodiment of the present invention, the directional indication is only used to explain that it is in a specific posture (as shown in the drawings). If the specific posture changes, the relative positional relationship, movement, etc. of the components below will also change the directional indication accordingly.

In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on what can be achieved by a person of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that such a combination of technical solutions does not exist. , Is not within the protection scope of the present invention.

As shown in Figure 1, an automatic sonar monitoring device includes a mobile base station 1, a connecting line 3, and a number of monitoring devices 2. The mobile base station 1 includes a mobile hull 11, positioning equipment, power supply equipment, and communication devices 18 , Storage battery 14, control device 17, and winding and unwinding equipment, the positioning equipment, power supply equipment, communication device 18, storage battery 14 and winding and unwinding equipment are all fixed on the mobile hull 11; the power supply equipment includes solar cells 12 It is connected with the wind power generator 13 and the battery 14 to provide energy for the entire device; the positioning device determines the position of the mobile base station 1 via the GPS positioning system, and the communication device 18 is wirelessly connected to the fixed base station. The winding and unwinding equipment includes a motor 15 and a rotating shaft 16, the motor 15 drives the rotating shaft 16 to rotate; the positioning equipment, power supply equipment, communication device 18, storage battery 14, and winding and unwinding equipment are all connected to the control device 17 A number of the monitoring devices 2 are connected to the mobile base station 1 via the connecting line 3, and the connecting line 3 is wound on the rotating shaft 16; the connecting line 3 includes a transmission line and a data line; the The monitoring device 2 includes a sealed body 21, a sonar device 29, and a gas compressor 23. The sealed body 21 is provided with a high-pressure gas tank 22. The output end of the gas compressor 23 is in communication with the high-pressure gas tank 22, and the inlet end Set in the sealing body 21, the high-pressure gas tank 22 is connected with an exhaust valve 24; the sealing body 21 is a two-part sealed movable connection: when the two parts are close, they sink to the seabed, and when they are far away, they float on the water; The sonar device 29 is fixed on the upper surface of the sealed main body 21, and is connected to the control device 17 via the data line. The gas compressor 23 is connected to the control device 16; the transmission line is connected to the battery 14 and the sonar device 29 and the gas compressor 23.

The mobile base station 1 is connected to a plurality of monitoring devices 2 via a connecting line 3, and the seabed information collected by the monitoring device 2 is wirelessly transmitted to the ground base station by the communication device 18. At the same time, a power supply device is set on the mobile base station 1, such as The solar cell 12 and the wind generator 13 provide power for the mobile base station 1 and the monitoring device 2 to ensure the normal operation of the entire sonar monitoring device.

The mobile base station 1 itself is the structure of the hull 11, and there is a power mechanism at the bottom, such as a propeller 19. If the monitoring task of a certain sea area is completed, the hull can be moved to the rest of the sea. Moreover, because each mobile base station 1 is connected to multiple monitoring Device 2, multiple monitoring devices 2 can be arranged in multiple directions, to achieve a large monitoring range, multi-angle observation, and good detection effects.

The connecting line 3 itself includes a transmission line and a data line, is wound on the rotating shaft 16 and retracts according to the distance between each monitoring device 2 and the hull 11.

Since the hull 11 is located on the sea, the solar cell 12 or the wind generator 13 can effectively use light or wind energy, and can generate a large amount of electricity. A storage battery 14 is installed in the hull 11 for energy storage, which can provide the entire equipment for a long time. run.

The monitoring device 2 includes a sealed body 21, a sonar device 29, and a gas compressor 23. The sealed body 21 is provided with a high-pressure gas tank 22. The output end of the gas compressor 23 is in communication with the high-pressure gas tank 22, and the inlet end Set in the sealing body 21, the high-pressure gas tank 22 is connected with an exhaust valve 24; the sealing body 21 is a two-part sealed movable connection: when the two parts are close, they sink to the seabed, and when they are far away, they float on the water; The sonar device 29 is fixed on the upper surface of the sealing body 21 and connected to the control device 17, and the gas compressor 23 is connected to the control device 17.

The sealing body 21 is set as two parts that can be movably and sealedly connected. When the two parts are separated, the volume of the sealing body 21 is increased, and there will be a greater buoyancy effect in the water, which will float on the water; When closed, the volume of the entire sealing body 21 is the smallest, and the buoyancy received is less than its own weight, so that the sealing body 21 will sink to the seabed; a high-pressure gas tank 22 and a gas compressor 23 are arranged in the sealing body 21, according to the sealing body 21 The volume changes required at different depths are used to control the gas distribution in the high-pressure gas tank 22 and the sealing body 21: if it needs to sink, the gas compressor 23 extracts the gas in the sealing body 21 and sends it into the high-pressure gas tank 22; On the contrary, when floating, the high-pressure gas in the high-pressure gas tank 22 is output to the sealing body 21 through the vent valve.

Preferably, a barometer is provided in the sealing body 21 to measure the air pressure in the sealing body 1; it is connected with the exhaust valve 24 through a control device to ensure that the air pressure in the sealing body 21 is stable. Especially when there are workers in the sealing body 21, the pressure inside should be maintained at normal pressure.

The above-mentioned components are specifically: the high-pressure gas tank 22 is a metal sealed cavity with a fixed volume, with a pressure resistance of 30 MPa, such as bottle-shaped, can-shaped, and other pressure-resistant shapes, with a one-way inlet and outlet. The inlet is connected with the gas compressor 23, and the outlet A purge valve is connected to communicate with the inside of the sealing body 21.

Then, a sonar device 29 is provided on the upper part of the sealing body 21, and the sonar device 29 is used to monitor the submarine environment. The sonar device 29 specifically includes passive sonar and active sonar. The active sonar emits sound waves into the water, finds the target by receiving the echoes reflected by underwater objects, and measures its parameters; the target distance can be estimated by the time difference between the original sound wave and the arrival of the echo ; The target azimuth is obtained by measuring the difference between the two sub-arrays in the receiving sound array. Active sonar is composed of transmitter, sound array, receiver (including signal processing), and display console. The passive sonar detects the target by receiving the radiated noise of the target and determines its parameters; it is composed of three parts: receiving sound array, receiver (signal processing) and display console. The sonar device 29 is connected to the control device 17, and the operation of the sonar device 29 and the collected information are all controlled by the control device 17.

The sealing body 21 itself is two hemispheres with asymmetrical density distribution, which is light up and down heavy to ensure that the sonar device 29 above it can always be up and monitor the surrounding seabed environment. In the actual installation, the high-pressure gas tank 22 is arranged in the upper part of the spherical body of the sealing body 1, and the other equipment is arranged in the lower part.

A number of electric push rods 25 are set at the joint of the two hemispheres, and a folded pressure-resistant film 26 is arranged on the periphery of the several electric push rods 25. Under the action of the electric push rods 25, the pressure-resistant film is driven to expand, and the two hemispheres mutually interact. Far away, the volume of the sealing body 21 is enlarged; if the pressure-resistant membrane is driven to contract, the two hemispheres gradually close together, reducing the volume of the sealing body 21. The upper and lower ends of the folded pressure-resistant film 26 are respectively connected to the two hemispheres in a sealed manner, and the folded pressure-resistant film 26 itself is a ring structure, so that the two hemispheres are far away or closed to ensure that seawater will not be caused by the folded pressure film. Enter the sealing body 21. The two monitoring devices 2 shown in Fig. 1 are respectively in an expanded and closed state.

A thruster 27 is provided under the monitoring device 2, which is used to drive the sonar robot to move back and forth in the sea. In particular, the thruster 27 is connected to the lower part of the monitoring device 2 via a rotating shaft 28. The rotation angle of the thruster 27 around the rotating shaft 28 is 0 -180 degrees, which means that the thruster 27 can adjust the forward direction of the monitoring device 2 at will.

The propeller 27 is of a rotating blade type or a water spray type. One side is connected to the rotating shaft 28 via a bearing seat, and the rotation of the propeller 27 on the rotating shaft 28 is driven by a motor. The above-mentioned propeller 27 and the motor are all connected to the control device 17, and the control device 17 regulates the operation.

At least one propeller 27 is provided, and the optimal number is three, which are distributed under the sealing body 21.

An infrared camera 4 is also provided on the sealed main body 21 to monitor the biological conditions of the seabed by infrared means, and a transparent window is provided on the outer cover of the infrared camera 4. The lower part of the sealing body 21 is provided with an ultrasonic detection device 5 to perform ultrasonic detection on the seabed, and is connected to the control device 17 via the data line.

The automatic sonar monitoring device of the present invention utilizes the combination of a mobile base station 1 and a plurality of monitoring devices 2 to perform long-range and long-term submarine monitoring, with diversified monitoring angles and accurate data. Due to the sonar method and infrared camera method, the impact on the seabed environment is small, and the information collected is accurate and reliable.

The whole device is mobile and easy to use.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications are also It should be regarded as the protection scope of the present invention.

Claims

An automatic sonar monitoring device, which is characterized in that it includes a mobile base station, a connecting line, and several monitoring devices. The mobile base station includes a mobile hull, positioning equipment, power supply equipment, communication equipment, power storage equipment, control devices, and Rewinding and unwinding equipment, the positioning equipment, power supply equipment, communication equipment, power storage equipment and rewinding and unwinding equipment are all fixed on the mobile hull; the power supply equipment includes solar cells and wind power generation equipment, and the power storage The equipment is connected to provide energy for the entire device; the positioning equipment determines the position of the mobile base station via the GPS positioning system, the communication equipment is wirelessly connected to the fixed base station, and the unwinding and unwinding equipment includes a motor and a rotating shaft. The motor drives the rotating shaft to rotate; the positioning equipment, power supply equipment, communication equipment, power storage equipment, and winding and unwinding equipment are all connected to the control device; a number of the monitoring devices are connected to the mobile via the connecting line The base station is connected, the connecting wire is wound on the rotating shaft; the connecting wire includes a transmission line and a data line; the monitoring device includes a sealing body, a sonar device and a gas compressor, and a high-pressure gas tank is arranged in the sealing body The output end of the gas compressor is in communication with the high-pressure gas tank, the inlet end is provided in the sealing body, and the high-pressure gas tank is connected with a purge valve; the sealing body is composed of a two-part sealed movable connection: The two parts sink to the bottom of the sea when they are close, and float on the water when they are far away; the sonar device is fixed on the upper surface of the sealing body, and is connected to the control device via the data line. The gas compressor and the control device Connection; The transmission line connects the power storage device, the sonar device, and the gas compressor.
The automatic sonar monitoring device according to claim 1, wherein the monitoring device further comprises a pusher, and the pusher is fixed on the sealed body and connected with the control device.
The automatic sonar monitoring device of claim 1 or 2, wherein the mobile hull includes a power mechanism to drive the mobile base station to move on the water surface.
The automatic sonar monitoring device according to claim 1, wherein the control device includes a memory for storing information obtained by the sonar device.
The automatic sonar monitoring device according to claim 1, wherein the sealing body is provided with an infrared camera connected to the control device.
3. The automatic sonar monitoring device according to claim 2, wherein the propeller is provided with at least one, and the controlled rotation is connected to the sealing body.
7. The automatic sonar monitoring device of claim 6, wherein the infrared camera device is covered with a transparent window.
8. The automatic sonar monitoring device of claim 6, wherein the controlled rotation connection is horizontal 0-180 degree rotation.
5. The automatic sonar monitoring device according to claim 1, wherein the sealing body is composed of two hemispheres with asymmetric density distribution.
The automatic sonar monitoring device according to claim 1, wherein the monitoring device further comprises an ultrasonic detection device, which performs ultrasonic detection on the seabed, and is connected to the control device via the data line.