Long-term sea surface guard device and method for quickly locating and identifying underwater targets

Abstract

The present invention provides a long-term sea surface guard device and method for quickly locating and identifying underwater targets, and relates to the technical field of underwater target identification; the guard device includes a surface floating support platform, an underwater sonar detection platform, an aerial unmanned aerial vehicle laser radar detection platform and a command and control station. The surface floating support platform is mainly used as a carrier of the underwater sonar detection platform and the aerial unmanned aerial vehicle laser radar detection platform. The surface floating support platform is responsible for transporting the underwater sonar detection platform and the aerial unmanned aerial vehicle laser radar detection platform to a designated location and completing power supply, release, recovery and other tasks. The underwater sonar detection platform is responsible for deploying underwater detection sonars and detecting underwater targets. The surface floating support platform, the underwater sonar detection platform, and the aerial unmanned aerial vehicle laser radar detection platform adjust their states according to the real-time instructions of the command and control station. The present invention can be applied to detect, identify and track mobile targets in water with good transparency.

Description

Technical Field

[0001] The invention relates to the technical field of underwater target recognition, in particular to a method for underwater target detection, recognition and tracking. Background Art

[0002] The detection of underwater targets has important applications in defense, rescue, production, life and other fields. The detection methods adopted in the existing technology mainly include the following:

[0003] One method is to use the noise data recorded by the underwater fixed sound array to monitor the signals of creatures such as dolphins and seals. The disadvantage of this method is that the positioning accuracy is poor. You can also use ship-borne echo sonar to locate underwater targets. The disadvantage of this method is that it cannot correctly identify the detected targets. In other scenarios, underwater laser imaging radar can also be used to detect and identify underwater targets. The disadvantage of this method is that the detection distance is short, and it is difficult to continuously track the target and predict future movement trends. In addition, drones equipped with blue-green laser radars can be used to detect underwater targets, but the disadvantage of this method is that it is difficult to maintain long-term duty. Summary of the invention

[0004] The object of the present invention is to provide a device which can quickly locate and identify underwater targets and can perform sea surface guarding for a long time and a corresponding operation method thereof.

[0005] A first aspect of the present invention provides a long-term sea surface guard device that can quickly locate and identify underwater targets, which includes a surface floating support platform, an underwater sonar detection platform, an aerial drone laser radar detection platform and a command and control station.

[0006] Among them, the surface floating support platform is mainly used as a carrier for the underwater sonar detection platform and the aerial drone laser radar detection platform. The surface floating support platform is responsible for transporting the underwater sonar detection platform and the aerial drone laser radar detection platform to the designated location and completing power supply, release, recovery and other tasks. The underwater sonar detection platform is responsible for deploying underwater detection sonar and detecting underwater targets. The drone reconfirms and identifies underwater targets based on the target position detected by the underwater sonar, and transmits the target identification results to the command and control station. The command and control station is located on the shore or on the command ship for situation display and command and control. The command and control station can send real-time instructions based on the reported target situation. The surface floating support platform, underwater sonar detection platform, and aerial drone laser radar detection platform adjust their status according to the real-time instructions.

[0007] The main mission equipment of the surface floating support platform (including underwater sonar detection platform and aerial UAV lidar detection platform) is the sonar and UAV detection parts.

[0008] The surface floating support platform mainly includes three functions: first, it provides normal working energy and communication conditions for the underwater sonar detection platform and the aerial UAV lidar detection platform; second, it serves as a platform for releasing and recovering UAVs; third, it serves as a platform for releasing and recovering underwater sonar.

[0009] The surface floating support platform mainly includes a floating device, telescopic control equipment, a UAV protective cover, an underwater sonar release and recovery device, and a GPS positioning system.

[0010] The floating device can be composed of unmanned boats, buoys, floats and other equipment with large buoyancy, and is mainly used to carry drone telescopic equipment, drone parking devices, underwater sonar, etc. The floating device can be released to the water surface using a mechanical boom on a ship, or swim to a designated location using autonomous power.

[0011] The telescopic control device is mainly used to tether the UAV. The tethering cable is generally no longer than 600 meters and is used for power supply and communication of the UAV. The telescopic control device adjusts the telescopic conditions of the UAV and the cable according to the real-time instructions of the control console.

[0012] The drone protection cover is a sliced ​​structure, composed of at least 5 slices or multiple arc surfaces, each slice arc surface is coaxial, and is hemispherical when unfolded, which can cover the drone platform, and is a single slice arc surface shape when retracted. The sliced ​​drone protection cover is driven by a rotating motor drive device and rotates in a sequence from the top to the sides. According to the instructions for releasing or recovering the drone, the drone protection cover performs two operation processes: folding and opening the slices or opening and enclosing the slices.

[0013] The underwater sonar release and recovery device includes a fixed reel, a cable, a control device, etc. The cable is wound on the reel, and the rotation of the reel can realize the release and recovery of the cable. The cable is used for power supply and communication of the underwater sonar. The control device is used to receive instructions from the command console and drive the reel to rotate clockwise or counterclockwise.

[0014] The GPS positioning system is used to locate the position of the surface floating support platform and to feed back the position information to the underwater sonar release and recovery device.

[0015] The underwater sonar detection platform mainly includes two functions: first, it can emit active sound waves to detect underwater targets and use echo information to obtain the target's direction and distance information; second, it can be on duty underwater for a long time and monitor underwater targets around the clock.

[0016] The underwater sonar detection platform mainly includes a transmitting array, a receiving array, an inertial gyroscope, a depth sensor, and an electronic compartment shell, etc. The transmitting array is electrically connected to the receiving array, the inertial gyroscope, and the depth sensor, respectively, and the transmitting array, the receiving array, the inertial gyroscope, and the depth sensor are covered by the electronic compartment shell. The transmitting array is used to transmit array signals, the receiving array is used to receive echo signals, the inertial gyroscope is used to calibrate the reference position, the depth sensor is used to measure the sonar working depth, and the electronic compartment shell is used to load the transmitting array, the receiving array, the inertial gyroscope, the depth sensor, etc.

[0017] The aerial drone lidar detection platform mainly includes two functions: first, by emitting pulsed lasers and using laser point cloud imaging information to identify and track underwater targets; second, it can be on duty in the air for a long time and monitor underwater targets around the clock.

[0018] The aerial drone laser radar detection platform mainly includes: drone platform, laser radar, GPS positioning system, etc. The drone platform is a multi-rotor drone, which is used for aerial detection, receiving commands from the control console, and transmitting information through the data link; the laser radar is used to transmit and receive laser signals; the GPS positioning system is used to determine the position of the drone platform; the laser radar and the GPS positioning system are installed on the drone platform.

[0019] The command and control console mainly includes three functions: first, receiving underwater sonar signals by wired or wireless means and processing and displaying them, and sending instructions to control the emission, release and recovery of sonar signals; second, receiving UAV lidar signals by wired or wireless means and processing and displaying them, and sending instructions to control the emission, release and recovery of UAVs; third, sending instructions to control the operation of various devices on the surface floating support platform.

[0020] The command console mainly includes a signal processing cabinet and a display and control console; the signal processing cabinet and the display and control console are electrically connected. The signal processing cabinet is used to process the received sonar and laser radar signals and send them to the display and control console; the display and control console is used to display the underwater target position, distance, sonar signal transmission parameters, laser radar signal transmission parameters, and send control instructions to the surface floating support platform, underwater sonar detection platform, and aerial drone laser radar detection platform.

[0021] The second aspect of the present invention provides a long-term sea surface guarding method capable of quickly locating and identifying underwater targets, which can be completed using the long-term sea surface guarding device capable of quickly locating and identifying underwater targets described in the first aspect of the present invention. Specifically, the guarding method comprises:

[0022] Step S1. Transport the surface floating support platform (including the underwater sonar detection platform and the aerial drone laser radar detection platform before the work is started) to the deployment location A;

[0023] Or the floating support platform on the water surface (including the underwater sonar detection platform and the aerial drone laser radar detection platform before the work begins) uses autonomous power to swim to the designated position A;

[0024] Step S2. Place the floating support platform (including the underwater sonar detection platform and the aerial drone lidar detection platform before operation) into the water;

[0025] If the floating support platform on the water surface (including the underwater sonar detection platform and the aerial drone laser radar detection platform before starting work) swims to the designated position A by autonomous power, this step can be omitted;

[0026] Step S3. Connecting power to all electrical appliances in the entire system;

[0027] Step S4. According to the ocean hydrological conditions, the underwater sonar detection platform located below the floating support platform on the water surface releases the sonar to a certain depth, generally about 10m;

[0028] The tethered drone located on the upper layer of the floating support platform opens the drone protection cover and takes off, and patrols towards point C, which is far away from the ship and at the maximum working distance of the sonar. The working altitude of the drone is 75 to 150 meters.

[0029] Step S5. When the sonar detects the target, the target distance and azimuth information is displayed by the control console (located at point B on the shore). Then, based on the target position information, the tethered drone moves forward for detection and identification. If it is the target, it continues to track it; if it is underwater clutter, it is ignored and returns to position C to continue patrolling, that is, the patrol mission is continued according to the process of steps S1 to S5.

[0030] The present invention can be applied to detect, identify and track moving targets in water with good transparency (turbid water is difficult to detect). Typical application scenarios are:

[0031] 1. Used for detecting, locating and tracking underwater mobile targets in waters near ports and offshore platforms (ships, exploration platforms, etc.). For example, unidentified underwater targets approaching may pose a threat to the port;

[0032] 2. Used for detection, identification and early warning of large fish (such as sharks, whales, etc.) in waters of coastal public baths and other crowded entertainment places;

[0033] 3. Used for fish monitoring in rivers and other waters on land;

[0034] 4. Used for underwater rescue operations within a depth of 100 meters, such as salvaging sunken ships. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural schematic diagram of a preferred embodiment of the long-term sea surface guard device capable of quickly locating and identifying underwater targets according to the present invention;

[0036] Figure 2 yes Figure 1 A schematic diagram of the structure of the sea surface guard device after the UAV flight platform is released in the illustrated embodiment;

[0037] Figure 3 yes Figure 1 , Figure 2 A schematic diagram of the structure of the UAV platform in the illustrated embodiment;

[0038] Figure 4 yes Figure 1 A schematic diagram of the structure of the control console in the illustrated embodiment;

[0039] Figure 5 , Figure 6 This is a schematic diagram of the composition structure of the drone protective cover;

[0040] Figure 7 It is a structural diagram of the surface floating support platform when working in the port.

[0041] Figure 1-Figure 7 The meanings of the numbers are:

[0042] 1: Floating device; 2: Underwater sonar; 3: Underwater sonar release and recovery device;

[0043] 4: GPS antenna; 5: telescopic control device; 6: multi-rotor drone system;

[0044] 7: Drone protective cover; 8: Propeller; 9: LiDAR; 10: Command and control console;

[0045] 11: Display and control console; 12: Signal processing cabinet; 13: Power supply and distribution equipment. DETAILED DESCRIPTION

[0046] The specific implementation modes of the present invention are described in detail below with reference to the accompanying drawings.

[0047] Example 1

[0048] Long-term sea surface monitoring equipment that can quickly locate and identify underwater targets, such as Figure 1-Figure 7 As shown, it includes a surface floating support platform, which is equipped with an underwater sonar detection platform, an aerial UAV lidar detection platform and a command and control station.

[0049] The water surface floating support platform comprises a floating device 1, Figure 1 The UAV flight platform is parked on the floating device; an underwater sonar release and recovery device 3 is installed at the lower inner side of the floating device 1, and the underwater sonar release and recovery device 3 is connected to the underwater sonar 2 through a retractable rope to facilitate the release or recovery of the underwater sonar 2. A power supply and distribution device 13 is also arranged at the lower inner side of the floating device 1 to supply power to electrical appliances.

[0050] The propeller 8 is arranged on the side of the floating device 1 to facilitate the autonomous movement of the floating device 1. The floating device 1 is also provided with a drone protection cover 7; the floating device 1 is also provided with a telescopic control device 5 and a GPS antenna 4, the telescopic control device 5 is electrically connected to the multi-rotor drone system 6, and is convenient for powering the multi-rotor drone system 6 and receiving signals; the GPS antenna 4 is used for positioning the multi-rotor drone system 6.

[0051] The multi-rotor UAV system 6 is placed on the floating device 1 in the UAV protective cover 7. When the multi-rotor UAV system 6 is started, Figure 5 As shown, the rotating motor driving device 71 located at the center of the drone protective cover 7 causes each of the segmented protective covers 72 of the drone protective cover 7 to retract in the same direction. The retracted state is as shown in FIG. Figure 6 As shown; when the multiple segmented protective covers 72 are retracted and overlapped, the multi-rotor UAV system 6 is exposed, making it convenient for the multi-rotor UAV system 6 to fly and perform detection tasks.

[0052] A laser radar 9 is arranged below the multi-rotor UAV system 6 to facilitate detection operations. The command console 10 includes a display control console 11 and a signal processing cabinet 12.

[0053] The underwater sonar 2 and the underwater sonar release and recovery device 3 together constitute an underwater sonar detection platform; the telescopic control device 5, the multi-rotor UAV system 6, the UAV protective cover 7, and the laser radar 9 together constitute an aerial UAV laser radar detection platform, and the laser radar 9 is the task equipment of the multi-rotor UAV system 6, which is responsible for detecting and identifying underwater targets and forming laser point cloud imaging information of the target. The telescopic control device 5 includes a cable for releasing and recovering the multi-rotor UAV system 6, and the cable is responsible for power supply and communication. The UAV protective cover 7 is the protective cover after the multi-rotor UAV system 6 is recovered; the display control console 11 and the signal processing cabinet 12 together constitute the control console 10, and the display control console 11 is a display screen for underwater target information after detection and identification by the underwater sonar 2 and the laser radar 9, and the signal processing cabinet 12 is a signal processing device for detection and identification by the underwater sonar 2 and the laser radar 9.

[0054] The floating device 1, GPS antenna 4, propeller 8, and power supply and distribution equipment 13 together constitute a surface floating support platform, which is responsible for carrying various components of the underwater sonar detection platform and the aerial UAV lidar detection platform. The floating device 1 provides buoyancy for the overall support platform, the GPS antenna 4 provides location information for the surface floating support platform, the propeller 8 provides power for providing location information for the surface floating support platform, and the power supply and distribution equipment 13 provides power and distribution for the entire system.

[0055] Example 2

[0056] A long-term sea surface guard method that can quickly locate and identify underwater targets is used for port protection in this embodiment. The sea surface guard device described in Example 1 can be used. The sea surface guard device is located in the center of the port water area to perform port protection tasks. The command and control console is located on the port shore. The tethered drone can be in standby mode first. When relevant intelligence information about unknown underwater targets is obtained, the alert level is increased, and the tethered drone patrols and conducts reconnaissance at the maximum effective range of the sonar.

[0057] When the guard platform's warning sonar sounds an alarm, the tethered drone conducts close reconnaissance based on the threat location provided, and uses the laser imaging radar information and sonar information to make a comprehensive judgment. If it is a real target, it can send an audible and visual warning to the port.

[0058] Example 3

[0059] A long-term sea surface guarding method capable of quickly locating and identifying underwater targets. This embodiment adopts the guarding device described in Example 1 for offshore platform protection:

[0060] When the threat is coming from a single direction, multiple surface guard devices can be deployed in a fan-shaped manner for protection. The protection method is similar to port protection. The main difference is that the command and control station is placed on the offshore platform instead of the shore base.

[0061] The number of guard devices shall be determined based on the protection area that can cover 90° to the left and right of the threat direction.

[0062] When the threat is coming from multiple directions, multiple sea surface guard devices can be deployed in a circular manner for protection. The protection method is similar to port protection, and the command console is placed on the offshore platform. The number of guard devices is determined based on the protection area that can cover the 360° range of the threat direction.

[0063] The above implementation modes are only used to illustrate the technical solutions of the embodiments of the present invention and are not intended to limit the present invention. Although the embodiments of the present invention are described in detail with reference to the above preferred implementation modes, those skilled in the art should understand that the technical solutions of the embodiments of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A long-term sea surface guard method for quickly locating and identifying underwater targets, characterized in that: The method utilizes a guarding device to realize long-term sea surface guarding for rapid positioning and identification of underwater targets, wherein: The method comprises: Step S1. transport the floating support platform to the deployment site and place it in the water at a designated location; or use the autonomous power of the floating support platform to move it to the designated location; Step S2. Power on all electrical appliances; release the underwater sonar detection platform to a predetermined depth according to the ocean hydrological conditions; launch the tethered drone located on the upper layer of the floating support platform on the surface and patrol in a direction away from the ship and at a maximum range of the sonar; Step S3. When the underwater sonar detection platform detects the target, the control console displays the target distance and azimuth information, and notifies the tethered drone to detect and identify the target according to the target location information; If the recognition result is a target, continue tracking; if the recognition result is underwater clutter, ignore it and return to the maximum sonar range to continue to perform patrol tasks according to the process of steps S1 to S3; the device includes: a surface floating support platform, an underwater sonar detection platform, an aerial drone laser radar detection platform and a command console; wherein: The surface floating support platform is the carrier of the underwater sonar detection platform and the aerial drone laser radar detection platform; the command station is located on the shore or on the command ship for situation display and command and control; it is characterized by: The control station sends real-time instructions according to the target situation, and the surface floating support platform, the underwater sonar detection platform, and the aerial drone laser radar detection platform adjust their states according to the real-time instructions after receiving the real-time instructions; The surface floating support platform provides energy and communication conditions for the underwater sonar detection platform and the aerial UAV laser radar detection platform to work normally, and carries out the release and recovery operations of the UAV and the release and recovery operations of the underwater sonar; The surface floating support platform includes a floating device, a telescopic control device, a drone protection cover, an underwater sonar release and recovery device, and a GPS positioning system; wherein: the floating device is a device with a buoyancy greater than a predetermined value, and the floating device carries the drone protection cover, the underwater sonar release and recovery device, and the telescopic control device; the telescopic control device is used to tether the drone, and to supply power and provide communication services for the drone; The drone protective cover is a segmented structure, which includes at least 5 segmented arcs, each segmented arc is coaxial, and the segmented arcs form a hemispherical shape when fully unfolded to cover the drone platform; The underwater sonar release and recovery device includes a fixed wire drum, a cable, and a control device. The cable is wound on the wire drum, and the wire drum is released and recovered by rotating. The cable is used for power supply and communication of the underwater sonar. The control device is used to receive instructions from the control console and drive the wire drum to rotate clockwise or counterclockwise. Wherein, the GPS positioning system is used to locate the position of the surface floating support platform and feed back the position information to the underwater sonar release and recovery device; The underwater sonar detection platform emits active sound waves to detect underwater targets, uses echo information to obtain the target's direction and distance information, and is on duty underwater for a long time to monitor underwater targets around the clock. The underwater sonar detection platform includes a transmitting array, a receiving array, an inertial gyroscope, a depth sensor and an electronic warehouse shell. The transmitting array is electrically connected to the receiving array, the inertial gyroscope and the depth sensor respectively. The transmitting array, the receiving array, the inertial gyroscope and the depth sensor are covered by the electronic warehouse shell. The aerial drone laser radar detection platform emits pulsed lasers and uses laser point cloud imaging information to identify and track underwater targets; The control station receives underwater sonar signals and processes and displays them, and sends instructions to control the emission, release and recovery of sonar signals.

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