An underwater sonar search machine and underwater search system

Abstract

The application discloses an underwater sonar search machine and an underwater search system, which comprise a search machine body, a propelling unit, a searching unit and a water pressure wing unit. The search machine body is a rotary body structure. The propelling unit, the searching unit and the water pressure wing unit are arranged on the search machine body. The searching unit is used for searching, detecting and imaging an underwater target. The propelling unit is used for driving the search machine body to move in the longitudinal direction and the vertical direction, and controlling the pitch angle, the roll angle and the heading angle of the search machine body. The water pressure wing unit is arranged on the back of the search machine body, and automatically adjusts the included angle between the longitudinal direction of the search machine body and the water pressure wing unit according to the water flow resistance, so that the search machine body is balanced in the vertical direction and sails at a fixed depth. The application cancels the frame carrier and improves the sailing ability. The water pressure wing unit is additionally arranged to realize the autonomous adjustment of the sailing depth of the search machine in the towing cruising mode, so that the search machine sails at a fixed depth without floating up during high-speed sailing, and the deep-sea search demand is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater robots, in particular to an underwater sonar search machine and an underwater search system. BACKGROUND

[0002] Due to the complex underwater environment, such as fast water flow, too deep depth, low visibility and too low water temperature, the current search task of underwater targets is usually completed by underwater robots.

[0003] Carrying various devices on the underwater robot carrier to achieve the purpose of search increases the self-weight of the robot carrier, reduces its navigation maneuverability, and at the same time, since the carrier mostly adopts a frame structure, it increases the underwater running resistance. In addition, the existing underwater sonar search machine adjusts its working state through its own weight, the towing speed of the mother ship and the length of the tow cable when the mother ship is towed to navigate, but as the speed increases, the search machine will gradually float up due to the upward oblique pulling force of the mother ship, resulting in limited diving depth and inability to sink to the appropriate bottom height for deep sea search. SUMMARY

[0004] The purpose of the present application is to provide an underwater sonar search machine, which reduces the running resistance of the search machine, improves its navigation ability, ensures that the search machine can be towed at a fixed depth and meets the deep sea search demand. At the same time, after discovering suspicious targets, the sonar search machine can be instantly switched from the towing cruising mode to the free maneuvering navigation mode to meet the demand of approaching the target for detailed measurement and evidence collection, and expand the search range.

[0005] Another purpose of the present application is to provide an underwater search system, which reduces the running resistance of the search machine, improves its navigation ability, ensures that the search machine can be towed at a fixed depth and meets the deep sea search demand. At the same time, after discovering suspicious targets, the sonar search machine can be instantly switched from the towing cruising mode to the free maneuvering navigation mode to meet the demand of approaching the target for detailed measurement and evidence collection, and expand the search range.

[0006] To solve the above technical problems, the present application provides an underwater sonar search machine, which comprises a search machine body, a propulsion unit, a search unit and a water pressure wing unit, the search machine body is a rotary body structure, the propulsion unit, the search unit and the water pressure wing unit are all arranged on the search machine body, wherein:

[0007] The search unit is used for searching, detecting and imaging the underwater target;

[0008] The propulsion unit is used for driving the search machine body to move longitudinally and vertically, and controlling the pitch angle, roll angle and heading angle of the search machine body;

[0009] The pressure water wing unit is arranged at the back of the search machine body, and can automatically adjust the included angle between the pressure water wing unit and the search machine body according to the water flow resistance, so that the search machine body is balanced in vertical force and sails at a fixed depth.

[0010] Optionally, the pressure water wing unit comprises a pressure water wing and an elastic component, the pressure water wing is hinged at the back gravity center of the search machine body, and the elastic component is arranged between the pressure water wing and the search machine body, and the pressure water wing can rotate around the hinge under the action of water flow resistance and elastic force.

[0011] Optionally, the pressure water wing unit further comprises a hinge seat arranged at the back of the search machine body, and the pressure water wing is connected with the hinge seat through a hinge shaft, and the hinge seat is provided with a limiting wall.

[0012] The elastic component is a torsion spring, the middle part of the torsion spring is sleeved with the hinge shaft, one end of the torsion spring is abutted with the inner wall of the pressure water wing, and the other end of the torsion spring is abutted with the limiting wall.

[0013] Optionally, the propulsion unit comprises a longitudinal propeller, a transverse propeller and a vertical propeller, wherein:

[0014] The longitudinal propeller is arranged at the stern of the search machine body, and is used for realizing the longitudinal movement of the search machine body.

[0015] The transverse propeller is arranged at the bow of the search machine body and is used for controlling the heading angle of the search machine body.

[0016] The stern of the search machine body is provided with horizontal tail wings, and the vertical propeller is arranged at the bow back of the search machine body and the two horizontal tail wings, and is used for realizing the vertical movement of the search machine body and controlling the pitch angle and roll angle of the search machine body.

[0017] Optionally, the upper side of the horizontal tail wing is provided with a buoyancy material.

[0018] Optionally, the search machine body further comprises a control unit, the search machine body comprises a main control cabin, the control unit is arranged in the main control cabin, the control unit is electrically connected with the deck unit of the mother ship, the search unit and the propulsion unit, the control unit is used for transmitting the control instruction from the deck unit to the search unit and the propulsion unit, and transmitting the data information collected by the search unit back to the deck unit.

[0019] Optionally, the searching unit comprises a side scan sonar, the side scan sonar is installed on the belly of the search machine body, the search machine body is provided with an electronic cabin, and the searching unit further comprises a signal conversion unit, the signal conversion unit is installed inside the electronic cabin and is electrically connected with the side scan sonar and the deck unit, and the signal conversion unit is used to convert sound information collected by the side scan sonar into digital information and transmit the digital information to the deck unit.

[0020] Optionally, the searching unit comprises a heading and attitude sensor, a depth sensor and a speed sensor, the heading and attitude sensor is arranged inside the search machine body and coincides with the center of gravity of the search machine body, and test terminals of the depth sensor and the speed sensor are exposed to the search machine body to contact with water flow.

[0021] Optionally, the searching unit comprises a camera assembly, the camera assembly comprises a camera and a fill light, and the camera assembly is arranged at the bow of the search machine body, and the bow of the search machine body is further provided with a protective frame around the camera assembly.

[0022] Optionally, the underwater sonar search machine further comprises a main communication board, the main communication board is electrically connected with the control unit and the deck unit, a control instruction from the deck unit is transmitted to the control unit through the main communication board, and data information received by the control unit is transmitted to the deck unit through the main communication board.

[0023] Optionally, the underwater sonar search machine further comprises a reverse ultra-short baseline positioning system, the reverse ultra-short baseline positioning system comprises a response beacon and a transmitting and receiving array, the response beacon is arranged on the mother ship, the transmitting and receiving array is arranged on the underwater sonar search machine, and the transmitting and receiving array is arranged to coincide with the body coordinate system of the underwater sonar search machine.

[0024] Optionally, vertical tail wings are arranged on the vertical sides of the stern of the search machine body.

[0025] Optionally, the search machine body is provided with a buoyancy material near the center of the back.

[0026] Optionally, the search machine body is provided with a towing component at the center of gravity of the back, the towing component passes through the water pressure wing and is provided with a towing point, and the towing point is used to establish a physical connection with the mother ship through the umbilical cable.

[0027] The search machine body is further provided with an electronic connection part, the electronic connection part is used to establish an electrical connection and a communication connection relationship with the mother ship through the umbilical cable.

[0028] Optionally, the dragging component comprises a fixing member, a connecting member and a safety pin, the fixing member is fixed at the position of the center of gravity on the back of the search machine body, the upper end of the fixing member is provided with a connecting hole, the connecting member is provided with the dragging point, and the connecting member is fixedly connected with the connecting hole through the safety pin;

[0029] Further comprising a safety rope, one end of the safety rope is connected with the connecting member, and the other end of the safety rope is connected with the search machine body, and the connection point of the safety rope and the search machine body is located on the side of the fixing member close to the stern;

[0030] The safety pin can be broken when the search machine body is trapped and subjected to a preset force, and the safety rope can connect the umbilical cable and the search machine body when the safety pin is broken, so that the search machine body rolls with the stern upward and the bow downward when subjected to the pulling force of the safety rope, and is separated from the trapped state.

[0031] The application further provides an underwater search system, comprising a mother ship, an umbilical cable and the underwater acoustic search machine, the umbilical cable is used for connecting the mother ship and the underwater acoustic search machine, and a physical connection, an electrical connection and a communication connection relationship are established between the mother ship and the underwater acoustic search machine.

[0032] The underwater search system comprises the underwater acoustic search machine, and thus has the same technical effects as the underwater acoustic search machine, which will not be repeated here.

[0033] Optionally, the mother ship has a deck unit, and further comprises a measurement and control integrated software, the deck unit and the measurement and control integrated software, the underwater acoustic search machine are electrically connected, the measurement and control integrated software is used for inputting control instructions, and the deck unit can transmit the control instructions to the underwater acoustic search machine and transmit data information from the underwater acoustic search machine to the measurement and control integrated software.

[0034] The application has the following beneficial effects:

[0035] The underwater acoustic search machine has the following advantages: firstly, the carrier form of the frame structure in the prior art is cancelled, and the search machine body is arranged as a gyroid structure, so that the self-weight of the search machine is effectively reduced, the navigation resistance is reduced, and the navigation capability of the search machine is improved; secondly, the water pressure wing unit is additionally arranged to realize the self-regulation of the navigation depth of the search machine in the dragging cruising mode, so that the search machine can navigate at a fixed depth at high speed without floating up, and the deep sea search demand is met; and finally, the propelling unit is arranged to adjust the search posture and the search depth of the search machine, so that the search machine has the capability of autonomous navigation in a low-speed state, the measurement range is effectively controlled, the time for target search and confirmation is saved, and the multi-aspect demand for data collection work such as close target measurement and evidence collection is met. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 Structure diagram of a specific embodiment of the underwater sonar search machine provided by the present application;

[0037] Figure 2 For Figure 1 Structure diagram of a second angle of the underwater sonar search machine;

[0038] Figure 3 For Figure 1 Structure diagram of a third angle of the underwater sonar search machine;

[0039] Figure 4 For Figure 1 State diagram of the underwater sonar search machine when the speed is low;

[0040] Figure 5 For Figure 1 State diagram of the underwater sonar search machine when the speed is high;

[0041] Figure 6 For Figure 1 Axial sectional view of the underwater sonar search machine;

[0042] Figure 7 For Figure 1 Structure diagram of a fourth angle of the underwater sonar search machine;

[0043] Figure 8 For Figure 1 Structure diagram of a fifth angle of the underwater sonar search machine;

[0044] In which, Figures 1-8 The reference signs in the drawings are explained as follows:

[0045] 1 - search machine body; 11 - main control cabin; 12 - electronic cabin;

[0046] 2 - water pressure wing unit; 21 - water pressure wing; 22 - elastic part; 23 - hinged seat; 231 - limiting wall;

[0047] 31 - longitudinal propeller; 32 - transverse propeller; 33 - vertical propeller;

[0048] 4 - horizontal tail wing;

[0049] 51 - side-scan sonar; 52 - camera assembly; 53 - protection frame;

[0050] 6 - transmitting and receiving base array;

[0051] 7 - vertical tail wing;

[0052] 81 - towing part; 811 - fixing part; 812 - connecting part; 813 - safety pin; 82 - electronic connecting part;

[0053] 9 - safety rope;

[0054] 10 - guard frame;

[0055] A - buoyancy material. DETAILED DESCRIPTION

[0056] In order to make the technical personnel in the art better understand the technical solutions of the present application, the present application will be further described in detail below in combination with the drawings and specific embodiments.

[0057] The "first", "second" and the like described herein are only for the convenience of describing the structure and / or function of the same or similar structure or component of two or more, and do not represent a certain special limitation on the order and / or importance.

[0058] Herein, the perspective is taken as an example, in the length direction of the search machine body 1, the direction from the stern to the bow is the longitudinal direction, the direction perpendicular to the paper and inward is the transverse direction, and the direction from the bottom to the top is the vertical direction. Figure 4 Herein, the back of the search machine body 1 is the upper side, and the abdomen is the lower side.

[0059] Herein, the side wall of the pressure water wing 21 facing the search machine body 1 is the inner side wall.

[0060] Please refer to

[0061] , Figures 1-8 , Figure 1 is a structural schematic diagram of a specific embodiment of the underwater acoustic search machine provided by the present application; Figure 2 is Figure 1 a structural schematic diagram of the underwater acoustic search machine from a second angle;

[0062] Figure 3 is Figure 1 a structural schematic diagram of the underwater acoustic search machine from a third angle; Figure 4 is Figure 1 a state diagram of the underwater acoustic search machine when the speed is low; Figure 5 is Figure 1 a state diagram of the underwater acoustic search machine when the speed is high; Figure 6 is Figure 1 an axial sectional view of the underwater acoustic search machine; Figure 7 is Figure 1 a structural schematic diagram of the underwater acoustic search machine from a fourth angle; Figure 8 is Figure 1 a structural schematic diagram of the underwater acoustic search machine from a fifth angle.

[0063] The underwater sonar search machine comprises a search machine body 1, a propelling unit, a searching unit and a water wing unit 2, the search machine body 1 is a rotary body structure, the propelling unit, the searching unit and the water wing unit 2 are arranged on the search machine body 1, wherein:

[0064] The searching unit is used for searching, detecting and imaging the underwater target.

[0065] The propelling unit is used for driving the search machine body 1 to move longitudinally and vertically, and controlling the pitch angle, roll angle and heading angle of the search machine body 1.

[0066] The water wing unit 2 is arranged on the back of the search machine body 1, and the water wing unit 2 can automatically adjust the included angle between the longitudinal direction of the search machine body 1 according to the water flow resistance, so that the search machine body 1 is balanced in the vertical direction and sails at a fixed depth.

[0067] The underwater sonar search machine has the following advantages: firstly, the carrier form of the frame structure in the prior art is cancelled, and the search machine body 1 is arranged as a rotary body structure, so that the self-weight of the search machine is effectively reduced, the sailing resistance is reduced, and the endurance of the search machine is improved; secondly, the water wing unit 2 is additionally arranged, the included angle between the longitudinal direction of the search machine body 1 is automatically adjusted according to the different water flow resistance, the sailing depth of the search machine in the drag mode is automatically adjusted, the search machine can sail at a fixed depth when sailing at a high speed, and the search machine will not float up, so that the deep sea search demand is met; finally, the propelling unit is arranged, the search posture and search depth of the search machine are adjusted, the search machine has the capability of autonomous sailing in a low speed state, the measurement range is effectively controlled, the time for target searching and confirming is saved, and the multi-aspect demand for approaching the target to carry out detailed measurement, evidence collection and data collection is met.

[0068] The water wing unit 2 comprises a water wing 21 and an elastic component 22, the water wing 21 is hinged at the gravity center position of the back of the search machine body 1, the elastic component 22 is arranged between the water wing 21 and the search machine body 1, and the water wing 21 can rotate around the hinge under the action of the water flow resistance and the elastic force of the elastic component 22.

[0069] In this way, when the sailing speed of the underwater sonar search machine is low, the water flow resistance acting on the water wing 21 is small, and the water wing 21 has a certain included angle with the longitudinal direction of the search machine body 1 under the action of the water flow resistance and the elastic force of the elastic component 22. Figure 4As shown, the angle between the plane where the water pressure wing 21 is located and the longitudinal direction of the search machine body 1 is defined as a, and a is 3-5°. The water flow through the surface of the water pressure wing 21 generates a certain oblique downward pressure on the search machine body 1, which is balanced with the pulling force of the mother ship on the underwater acoustic search machine, so that the search machine is in a vertical force balance state and navigates at a fixed depth without gradually floating up. When the speed is higher, the water flow resistance on the water pressure wing 21 increases, and the water pressure wing 21 rotates around the hinge towards the search machine body 1. At this time, as shown, the angle between the plane where the water pressure wing 21 is located and the longitudinal direction of the search machine body 1 is about 15°, and the water flow through the surface of the water pressure wing 21 generates a greater oblique downward pressure on the search machine body 1, which is also balanced with the pulling force of the mother ship on the underwater acoustic search machine, so that the search machine is in a vertical force balance state and navigates at a fixed depth. Figure 5

[0070] It should be understood that the water pressure wing unit 2 further includes a hinge seat 23 arranged on the back of the search machine body 1, the water pressure wing 21 is connected with the hinge seat 23 through a hinge shaft, the hinge seat 23 has a limiting wall, the middle part of the torsion spring is sleeved on the hinge shaft, one end of the torsion spring abuts against the inner side wall of the water pressure wing 21, and the other end of the torsion spring abuts against the limiting wall. Figure 3

[0071] Therefore, as the speed of the search machine increases, the water flow resistance gradually increases, the water pressure wing 21 compresses the torsion spring to rotate towards the search machine body 1, and the angles of the two ends of the torsion spring gradually decrease to be in an energy storage state. When the speed of the search machine decreases, the water flow resistance gradually decreases, and the water pressure wing 21 rotates away from the search machine body 1 under the restoring force of the torsion spring, so that the automatic adjustment of the water pressure wing 21 is realized. It should be understood that the elastic component 22 is not limited to the form of the torsion spring, and can also be a coil spring, one end of the coil spring is fixedly connected with the search machine body 1, and the other end of the coil spring is fixedly connected with the inner side wall of the water pressure wing 21.

[0072] It should be understood that the specific shape and area of the water pressure wing 21 can be adaptively designed according to the weight and other parameters of the search machine body 1 in water to ensure the navigation stability of the search machine.

[0073] Further, the propulsion unit specifically includes a longitudinal propeller 31, a transverse propeller 32 and a vertical propeller 33,

[0074] The longitudinal propeller 31 is arranged at the stern of the search machine body 1 and is used for realizing the longitudinal movement of the search machine body 1.

[0075] The transverse propeller 32 is arranged on the transverse side of the bow of the search machine body 1 and is used for controlling the heading angle of the search machine body 1.

[0076] ​​The horizontal tail 4 is arranged on the transverse sides of the tail end of the search machine body 1, the vertical propeller 33 is arranged on the back of the bow end of the search machine body 1 and the two horizontal tail 4, and is used for realizing the vertical movement of the search machine body 1 and controlling the pitch angle and roll angle of the search machine body 1, for example, when the bow end vertical propeller 33 and the two tail end vertical propellers 33 all provide upward lift, the search machine body 1 will move vertically upward; conversely, when the bow end vertical propeller 33 and the two tail end vertical propellers 33 all provide downward pressure, the search machine body 1 will move vertically downward, so as to realize the vertical movement of the search machine body 1.

[0077] When the bow end vertical propeller 33 provides upward lift, and the two tail end vertical propellers 33 provide downward pressure, the search machine body 1 will be tilted at a certain pitch angle, and then the longitudinal propeller 31 provides forward thrust, so as to realize rapid floating movement; conversely, when the bow end vertical propeller 33 provides downward pressure, and the two tail end vertical propellers 33 provide upward lift, the search machine body 1 will be tilted at a certain pitch angle, and then the longitudinal propeller 31 provides forward thrust, so as to realize rapid sinking movement, so as to realize the control of the pitch angle of the search machine body 1.

[0078] When one of the two tail end vertical propellers 33 provides upward lift, and the other provides downward pressure, the control of the roll angle of the search machine body 1 can be realized.

[0079] The underwater acoustic search machine of the present application realizes the ability of autonomous navigation in a low-speed state through the arrangement of the propelling unit, can meet the requirements of rapid search of targets in a wide range, and can also meet the requirements of various aspects such as detailed measurement, evidence collection and other data collection work near the target.

[0080] In the embodiment, the upper side of the horizontal tail 4 is provided with a buoyancy material A to provide static buoyancy for the search machine.

[0081] Further, referring to Figure 6 The underwater acoustic search machine of the present application further comprises a control unit, which is located in the main control cabin 11, and is electrically connected with the deck unit, the searching unit and the propelling unit of the mother ship, can transmit the control instructions from the deck unit to the searching unit and the propelling unit to adjust the working state of the search machine, and can also transmit the data information collected by the searching unit back to the deck unit.

[0082] The searching unit specifically comprises a side scan sonar 51, which is mounted on the belly of the search machine body 1, i.e., the lower side near the middle part, and the search machine body 1 is provided with an electronic cabin 12, and further comprises a signal conversion unit, which is installed in the electronic cabin 12 and electrically connected with the side scan sonar 51 and the deck unit, and can convert the sound information collected by the side scan sonar 51 into digital information for transmission and transmit the digital information to the deck unit.

[0083] As arranged above, the side scan sonar 51 can realize full coverage scanning of the seabed of the target area, and analyze the seabed topography, acoustic structure and material properties, etc., to complete the seabed acoustic search operation.

[0084] In addition, a fairing is further arranged outside the side scan sonar 51, which also plays a role in reducing the sailing resistance and improving the endurance.

[0085] Further, the searching unit further comprises a navigation attitude sensor, a depth sensor and a speed sensor, wherein the navigation attitude sensor is arranged inside the search machine body 1 and coincides with the center of gravity of the search machine body 1, for collecting the navigation attitude signal of the search machine in real time, and the test terminals of the depth sensor and the speed sensor are exposed to the search machine body 1 to contact with the water flow, for collecting the depth and sailing speed of the search machine in real time, and the collected information is transmitted to the mother ship, so as to facilitate the search personnel to accurately control the working state of the underwater sonar search machine.

[0086] The speed sensor is generally a DVL (Doppler Velocity Log), and the probe of the sensor is generally mounted on the belly of the search machine body 1 and used downward to obtain the speed of the search machine body 1 relative to the seabed.

[0087] In addition, the searching unit further comprises a camera assembly 52, which comprises a camera and a fill light, and the camera assembly 52 is arranged at the bow of the search machine body 1, so as to realize the seabed optical search operation by means of the camera assembly 52; the bow of the search machine body 1 is further provided with a protective frame 53 around the camera assembly 32, so as to protect the camera assembly 52 from being damaged and improve the service life of the camera assembly 52.

[0088] In the present application, the underwater sonar search machine further comprises a main communication board, which is electrically connected with the control unit and the deck unit, and plays a role in data storage, the control instruction from the deck unit is first stored in the main communication board and then transmitted to the control unit, and the data information received by the control unit is also first stored in the main communication board and then transmitted to the deck unit.

[0089] Please refer to Figure 6The application also comprises a reverse ultra-short baseline positioning system, which comprises a response beacon and a transmitting-receiving array 6, the response beacon is arranged on the mother ship, the transmitting-receiving array 6 is arranged on the underwater sonar search machine, and the transmitting-receiving array 6 is coincident with the body coordinate system of the underwater sonar search machine in installation.

[0090] The body coordinate system of the underwater sonar search machine is the aforementioned transverse direction, longitudinal direction and vertical direction, and the transmitting-receiving array 6 is coincident with the body coordinate system of the underwater sonar search machine in installation, that is, each installation surface of the transmitting-receiving array 6 is parallel or perpendicular to the body coordinate system of the underwater sonar search machine. In practical application, the installation precision of the transmitting-receiving array 6 can be ensured by mechanical installation blocks.

[0091] In the prior art, when the ordinary ultra-short baseline positioning is used, the response beacon is generally arranged on the search machine, and the transmitting-receiving array is arranged on the bottom of the mother ship. Since the mother ship has large volume and weight, an attitude and heading reference system (AHRS) is generally arranged at the transmitting-receiving array to compensate for the error caused by the calculation of the attitude of the ship body. However, the application adopts a reverse installation mode, the response beacon is arranged on the mother ship, and the transmitting-receiving array 6 is arranged on the underwater sonar search machine, so that the AHRS does not need to be arranged separately, and the cost can be effectively reduced.

[0092] In addition, a protective frame 10 is further arranged outside the transmitting-receiving array 6 to protect the transmitting-receiving array 6 from being damaged and improve the service life of the transmitting-receiving array 6.

[0093] Please continue to refer to Figures 1-7 In the application, vertical tail wings 5 are further arranged on the transverse sides of the stern end of the search machine body 1 to improve the navigation stability of the search machine.

[0094] Please continue to refer to Figures 4-6 In the application, a towing component 81 is further arranged at the position of the center of gravity of the back of the search machine body 1, the towing component 81 passes through the water pressure wing 21 and is provided with a towing point, the towing point is used to establish a physical connection with the mother ship through the umbilical cable, and the search machine body 1 is further provided with an electronic connection part 82, the electronic connection part 82 is used to establish an electrical connection and communication connection relationship with the mother ship through the umbilical cable.

[0095] As arranged above, the underwater sonar search machine of the application can establish a physical connection relationship with the mother ship through the umbilical cable, and can be towed by the mother ship at high speed, that is, it has a high-speed towing cruising mode, in which mode the working state of the underwater sonar search machine can be adjusted by the weight of the underwater sonar search machine, the towing speed of the mother ship and the length of the towing cable; at the same time, the underwater sonar search machine of the application can also establish an electrical connection and communication connection relationship with the mother ship through the umbilical cable, that is, the mother ship supplies power to each power unit in the search machine through the umbilical cable, and performs data communication with the search machine through the umbilical cable.

[0096] Among them, asFigure 2 As shown, the towing component 81 includes a fixing member 811, a connecting member 812 and a safety pin 813. The fixing member 811 is fixed at the position of the center of gravity on the back of the search machine body 1. The upper end of the fixing member 811 is provided with a connecting hole. The connecting member 812 has the aforementioned towing point. The connecting member 812 is fixedly connected with the connecting hole through the safety pin 813. The safety pin 813 can be broken under a preset force.

[0097] Further, a safety rope 9 is provided. One end of the safety rope 9 is connected with the connecting member 812, and the other end is connected with the search machine body 1. The connecting point of the safety rope 9 with the search machine body 1 is located on the side of the fixing member 811 close to the stern.

[0098] In this way, under the normal navigation state, the safety rope 9 can play a role in improving the structural strength of the towing component 81, thereby improving the connection reliability between the mother ship and the search machine body 1. When the search machine hits an obstacle such as a fishing net during the towing process, and the towing force of the umbilical cable on the safety pin 813 is greater than the preset value, the safety pin 813 will be broken. The search machine body 1 is connected with the mother ship only through the safety rope 9. The connecting point of the umbilical cable with the search machine body 1 is also shifted from the position of the center of gravity to the position close to the stern. Under the action of the umbilical cable, the search machine body 1 rotates with a large pitch angle. The stern of the search machine body 1 is upward, and the bow is downward. The search machine body 1 rolls over. Finally, the search machine body 1 is detached from the obstacle and returns to the deck of the mother ship. After the safety pin is reinstalled and the maintenance work is completed, the search machine body 1 can continue to be used.

[0099] The number of connecting holes provided on the upper end of the fixing member 811 is not limited. The number of connecting holes can be one or more. The multiple connecting holes are distributed along the longitudinal direction of the search machine body 1. The connecting member 812 is fixedly connected with any connecting hole through the safety pin 813. When the number of connecting holes is multiple, it is more convenient to adjust the position of the towing point, to ensure the force balance of the search machine body 1, and to further ensure the navigation stability of the search machine body 1. The material of the safety rope 9 is preferably a steel cable with sufficient breaking force.

[0100] The length of the umbilical cable is different, and the communication mode is also different. When the length of the umbilical cable is not more than 200 meters, a multi-core Ethernet communication mode can be selected to directly connect the deck unit and each communication device in the search machine. When the length of the umbilical cable is not more than 500 meters, a two-core modem communication mode can be selected to connect the deck unit and the main communication board. The deck unit and the main communication board each have a set of modem conversion circuit. When the length of the umbilical cable is more than 500 meters, an optical fiber communication mode can be selected. The deck unit and the main communication board each have a set of optical fiber communication conversion circuit.

[0101] In addition, as shown in Figure 4 , 5 The search machine body 1 is provided with a buoyancy material A (not shown in other figures) at the position close to the center on the back. The buoyancy material A also provides static buoyancy for the search machine.

[0102] The application also provides an underwater search system, comprising a mother ship, a umbilical cable, and the underwater sonar search machine, the umbilical cable is used for connecting the mother ship and the underwater sonar search machine, and a physical connection, an electrical connection and a communication connection are established between the mother ship and the underwater sonar search machine.

[0103] The underwater search system comprises the underwater sonar search machine, and has the same technical effects as the underwater sonar search machine.

[0104] The physical connection is that the mother ship provides a towing force for the underwater sonar search machine through the umbilical cable; the electrical connection is that the mother ship supplies power for each power unit of the underwater sonar search machine through the umbilical cable; and the communication connection is that the mother ship communicates data with the underwater sonar search machine through the umbilical cable.

[0105] The mother ship has a deck unit, and further comprises a measurement and control integrated software, the deck unit is electrically connected with the measurement and control integrated software and the underwater sonar search machine, the measurement and control integrated software is responsible for monitoring a real-time working state of the underwater sonar search machine, and sends a control instruction to the control unit to realize a specific navigation task, and completes tasks such as data acquisition, synchronous processing, event marking processing, data storage and playback; the deck unit is a data communication transfer station, and transmits the control instruction from the measurement and control integrated software to the underwater sonar search machine, so as to control the propulsion unit and the search unit, adjust the working state of the underwater sonar search machine, and transmit data information from the underwater sonar search machine to the measurement and control integrated software.

[0106] In addition, the deck unit is also responsible for converting power energy for the mother ship, i.e., converting the voltage of the mother ship into the voltage required by each power unit, and then supplying power for each power unit.

[0107] The underwater sonar search machine and the underwater search system are described in detail above, and the principles and implementation manners of the application are described by using specific examples. The above description of the examples is only used to help understand the method of the application and the core idea thereof. It should be pointed out that, for those skilled in the art, without departing from the principles of the application, the application can be improved and modified in many ways, and these improvements and modifications also fall within the protection scope of the claims of the application.

Claims

1. An underwater sonar search device, characterized in that, The system includes a search aircraft body (1), a propulsion unit, a search unit, and a condenser unit (2). The search aircraft body (1) is a rotating structure. The propulsion unit, the search unit, and the condenser unit (2) are all located within the search aircraft body (1). The search unit is used for searching, detecting, and imaging underwater targets; The propulsion unit is used to drive the search aircraft body (1) to move longitudinally and vertically, and to control the pitch angle, roll angle and heading angle of the search aircraft body (1); The ballast unit (2) is located on the back of the search aircraft body (1). The ballast unit (2) can automatically adjust the angle between itself and the longitudinal direction of the search aircraft body (1) according to the water flow resistance, so that the search aircraft body (1) can be vertically balanced and sail at a fixed depth.

2. The underwater sonar search device according to claim 1, characterized in that, The ballast unit (2) includes a ballast (21) and an elastic component (22). The ballast (21) is hinged to the center of gravity on the back of the search aircraft body (1). The elastic component (22) is located between the ballast (21) and the search aircraft body (1). The ballast (21) can rotate around the hinge under the action of water flow resistance and elastic force.

3. The underwater sonar search device according to claim 2, characterized in that, The condenser unit (2) further includes a hinge seat (23) disposed on the back of the search aircraft body (1). The condenser (21) is connected to the hinge seat (23) via a hinge shaft. The hinge seat (23) has a limiting wall (231). The elastic component (22) is a torsion spring, and the hinge shaft is fitted in the middle of the torsion spring. One end of the torsion spring abuts against the inner wall of the water-pressurizing blade (21), and the other end abuts against the limiting wall (231).

4. The underwater sonar search device according to claim 1, characterized in that, The propulsion unit includes a longitudinal propeller (31), a transverse propeller (32), and a vertical propeller (33), wherein: The longitudinal thruster (31) is located at the stern end of the search machine body (1) and is used to realize the longitudinal movement of the search machine body (1); The lateral thruster (32) is located on the lateral side of the bow end of the search aircraft body (1) and is used to control the heading angle of the search aircraft body (1). The search aircraft body (1) is provided with horizontal tail fins (4) on both sides of the stern end. The vertical thruster (33) is provided on the bow back of the search aircraft body (1) and the two horizontal tail fins (4) to realize the vertical movement of the search aircraft body (1) and control the pitch angle and roll angle of the search aircraft body (1).

5. The underwater sonar search device according to claim 4, characterized in that, The upper side of the horizontal tail fin (4) is provided with buoyancy material (A).

6. The underwater sonar search device according to claim 1, characterized in that, It also includes a control unit. The search machine body (1) includes a main control compartment (11). The control unit is located inside the main control compartment (11). The control unit is electrically connected to the deck unit of the mother ship, the search unit, and the propulsion unit. The control unit is used to transmit control commands from the deck unit to the search unit and the propulsion unit, and to transmit the data information collected by the search unit back to the deck unit.

7. The underwater sonar search device according to claim 6, characterized in that, The search unit includes a side-scan sonar (51), which is mounted on the belly of the search aircraft body (1). The search aircraft body (1) is equipped with an electronics compartment (12). It also includes a signal conversion unit, which is installed inside the electronics compartment (12) and electrically connected to the side-scan sonar (51) and the deck unit. The signal conversion unit is used to convert the sound information collected by the side-scan sonar (51) into digital information and transmit it to the deck unit.

8. The underwater sonar search device according to claim 6, characterized in that, The search unit includes an attitude sensor, a depth sensor and a speed sensor. The attitude sensor is located inside the search machine body (1) and coincides with the center of gravity of the search machine body (1). The test terminals of the depth sensor and the speed sensor are exposed outside the search machine body (1) to contact the water flow.

9. The underwater sonar search device according to claim 6, characterized in that, The search unit includes a camera assembly (52), which includes a camera and a fill light. The camera assembly (52) is located at the bow of the search machine body (1), and a protective frame (53) is also provided around the camera assembly (52) at the bow of the search machine body (1).

10. The underwater sonar search device according to claim 6, characterized in that, The underwater sonar search device also includes a main communication board, which is electrically connected to the control unit and the deck unit. Control commands from the deck unit are transmitted to the control unit through the main communication board, and data information received by the control unit is transmitted to the deck unit through the main communication board.

11. The underwater sonar search device according to any one of claims 1-10, characterized in that, It also includes a reverse ultra-short baseline positioning system, which includes a response beacon and a transmit-receive array (6). The response beacon is located on the mother ship, and the transmit-receive array (6) is located on the underwater sonar search machine. The transmit-receive array (6) is installed in the same coordinate system as the body coordinate system of the underwater sonar search machine. And / or, vertical tail fins (7) are provided on both sides of the stern end of the search machine body (1); And / or, the search machine body (1) is provided with buoyancy material (A) at a position near the center of its back.

12. The underwater sonar search device according to any one of claims 1-10, characterized in that, The search machine body (1) has a towing component (81) at the center of gravity on its back. The towing component (81) passes through the ballast unit (2) and has a towing point. The towing point is used to establish a physical connection with the mother ship via an umbilical cable. The search machine body (1) is also provided with an electronic connection part (82), which is used to establish an electrical connection and communication connection with the mother ship through the umbilical cable.

13. The underwater sonar search device according to claim 12, characterized in that, The dragging component (81) includes a fixing member (811), a connecting member (812), and a safety pin (813). The fixing member (811) is fixed to the center of gravity of the back of the search machine body (1). A connecting hole is provided at the upper end of the fixing member (811). The connecting member (812) has the drag point. The connecting member (812) is fixedly connected to the connecting hole through the safety pin (813). It also includes a safety rope (9), one end of which is connected to the connector (812) and the other end is connected to the search machine body (1). The connection point between the safety rope (9) and the search machine body (1) is located on the side of the fixing member (811) near the stern. The safety pin (813) can break when the search machine body (1) is trapped and subjected to a preset force. When the safety pin (813) breaks, the safety rope can connect the umbilical cable to the search machine body (1) so that the search machine body (1) rolls with its stern end facing up and its bow end facing down under the tension of the safety rope, thus escaping from the trapped state.

14. An underwater search system, characterized in that, It includes a mother ship, an umbilical cable, and an underwater sonar search device as described in any one of claims 1-13, wherein the umbilical cable is used to connect the mother ship and the underwater sonar search device, establishing a physical connection, an electrical connection, and a communication connection between the mother ship and the underwater sonar search device.

15. The underwater search system according to claim 14, characterized in that, The mother ship has a deck unit and also includes integrated telemetry and control software. The deck unit is electrically connected to the integrated telemetry and control software and the underwater sonar search unit. The integrated telemetry and control software is used to input control commands. The deck unit can transmit the control commands to the underwater sonar search unit and transmit data information from the underwater sonar search unit to the integrated telemetry and control software.

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