Sonar buoy device with autonomous flight function and control method

Abstract

The present invention discloses a sonar buoy device with autonomous flight capabilities and a control method, relating to the technical field of sonar buoys. The sonar buoy device includes a sonar buoy assembly, multiple autonomous flight components, a chip-based controller, and a power supply assembly. The sonar buoy assembly includes a floating platform and a sonar transceiver antenna assembly. The floating platform has multiple flight component mounting holes on its upper surface, a clip-on structure on its side, an antenna mounting hole on its bottom, and an electrical chamber inside. Multiple autonomous flight components are respectively mounted in the multiple flight component mounting holes to provide lift for the sonar buoy assembly. The clip-on structure is used to dock with a delivery unit. By combining a flight mechanism and a sonar buoy, the present invention realizes a sonar buoy capable of autonomous flight and self-charging. It can be deployed and recovered at any time as needed, thereby improving delivery efficiency and flexibility.

Description

Technical Field

[0001] The present invention relates to the technical field of sonar buoys, and in particular to a sonar buoy device with an autonomous flight function and a control method thereof. Background Art

[0002] A sonar buoy is a device that uses sound waves for underwater detection. Typically consisting of a transmitter, a receiver, and a buoyancy regulator, it can transmit and receive sound wave signals underwater, thereby obtaining information such as the position, speed, and shape of underwater targets. Sonar buoys are widely used in ocean exploration, fishery resource assessment, underwater communications, and other fields.

[0003] Traditional sonar buoys typically require manual deployment and retrieval. The deployment process can be affected by factors such as wind, waves, and currents, causing the sonar buoy to deviate from the intended location and affect detection effectiveness. Furthermore, traditional sonar buoys are typically powered by batteries, which have limited capacity and cannot operate continuously for long periods of time. These batteries require regular replacement or recharging, increasing operational costs and maintenance complexity.

[0004] Therefore, how to provide a sonar buoy that can fly and charge autonomously and a control method thereof to solve the above problems is a technical problem that technical personnel in this field urgently need to solve. Summary of the Invention

[0005] In order to solve the above technical problems of traditional sonobuoys, the present invention provides a sonobuoy device with autonomous flight function and a control method. The following technical solutions are adopted:

[0006] A sonobuoy device with autonomous flight function, comprising a sonobuoy component, multiple autonomous flight components, a chip-based controller, and a power supply component;

[0007] The sonar buoy assembly includes a floating platform and a sonar transceiver antenna assembly. The floating platform is provided with multiple flight assembly mounting holes on the upper surface, a clamping structure on the side, an antenna mounting hole on the bottom, and an electrical cavity inside. Multiple autonomous flight assemblies are respectively installed at the multiple flight assembly mounting holes to provide lift for the sonar buoy assembly. The clamping structure is used to dock the delivery unit. The controller and power supply assembly are both arranged in the electrical cavity. The controller is respectively controlled and connected to the autonomous flight assembly and the sonar transceiver antenna assembly, and the power supply assembly supplies power to each electrical component.

[0008] By adopting the above technical solution, the design idea of ​​the entire sonar buoy device is to integrate autonomous flight components on the basis of traditional sonar buoys, and at the same time use a chip-based controller to automatically control the sonar transceiver antenna components and autonomous flight components of the sonar buoy. It can be autonomously deployed and recovered at any time as needed, thereby improving deployment efficiency and flexibility.

[0009] Optionally, the autonomous flight component includes an electric lifting mechanism, a rotor base and a rotor mechanism. The electric lifting mechanism is arranged on the inner wall of the flight component mounting hole, and the rotor base is installed on the lifting part of the electric lifting mechanism. Driven by the lifting part, it rises and leaks out of the floating platform, and descends and retracts into the flight component mounting hole. The controller controls the execution actions of the electric lifting mechanism and the rotor mechanism respectively.

[0010] By adopting the above technical solution, since an autonomous flight component is integrated, in order to ensure the stability of the sonar buoy device, it is necessary to design the rotor mechanism so that it can autonomously retract to the floating platform to avoid instability caused by the wind on the water surface acting on the rotor mechanism. In specific applications, if the autonomous flight component is required to provide lift, the electric lifting mechanism will drive the rotor base and the rotor mechanism to the upper surface of the floating platform, and lock the rotor base and the rotor mechanism under the control of the self-locking mechanism. The rotor mechanism can then be started to provide lift.

[0011] Optionally, the electric lifting mechanism includes three linear guides and an electric linear guide, and the tracks of the three linear guides and the electric linear guides are respectively installed on the inner walls of the flight component mounting holes, and the outer walls of the rotor base are respectively connected to the sliders of the three linear guides and the electric linear guides, and rise and fall under the drive of the sliders of the electric linear guides, and the controller controls the execution action of the electric linear guides.

[0012] By adopting the above technical solution, the design concept of the electric lifting mechanism is realized by using three linear guides and electric linear guides surrounding the rotor base, among which the electric linear guides serve as the power source for lifting. Since the rotor base and rotor mechanism adopt a structural design similar to the rotor of a drone, their weight is relatively light. Both the linear guides and the electric linear guides can use thin linear guides to reduce the weight of the sonar buoy device as much as possible.

[0013] Optionally, the rotor base is a ring structure, and the rotor mechanism includes multiple spokes, a rotor motor and a rotor, one end of the multiple spokes are respectively connected to the inner wall of the rotor base, and the other end are respectively connected to the outer wall of the rotor motor casing, the rotating shaft of the rotor motor is upward, and the center line coincides with the central axis of the rotor base, the rotor is arranged on the rotating shaft of the rotor motor, and rotates to provide lift, and the controller controls the execution action of the rotor motor.

[0014] By adopting the above technical solution, the rotor base adopts an annular structure, which serves as both a mounting carrier for the rotor mechanism and a protective cover for the rotor. Because the rotor mechanism needs to be raised and lowered, a rotor base-type protective cover is set up to effectively protect the rotor from external interference.

[0015] Optionally, the rotor mechanism further includes an electrically controlled door, which is disposed at the top of the flight component mounting hole. Before the flight component is required to move, the controller controls the electrically controlled door to open, and when the flight component is not required to move, the electrically controlled door closes.

[0016] By adopting the above technical solution and setting up the electric control door, when the flight component does not need to move, the electric control door needs to be closed to prevent water vapor and splashes on the water surface from affecting the rotor mechanism.

[0017] Optionally, the controller includes a main control chip, a flight control chip, a global satellite navigation GNSS module and a sonar control module. The main control chip is communicated with the flight control chip, the global satellite navigation GNSS module and the sonar control module respectively. The flight control chip realizes autonomous flight by controlling the execution action of the rotor motor. The global satellite navigation GNSS module is used to provide positioning signals. The sonar control module is used to control the sonar transceiver antenna assembly to transmit and receive sonar signals, and analyze the received sonar signals to obtain sonar positioning data.

[0018] By adopting the above technical solution, the controller needs to complete the following controls: motion control of various electrical components, flight navigation control of multiple rotor mechanisms, and control of sonar transceiver antenna components. Therefore, a main control chip is set to realize the motion control of multiple electrical components, and a flight control chip is used to realize the flight control of simulated multi-rotors, which is generally similar to a four-rotor structure drone. By controlling the speed of each rotor motor, the steering and flight attitude are adjusted to achieve autonomous flight. The global satellite navigation GNSS module is used to provide positioning signals. The sonar control module adopts a mature sonar control unit to control the transmission and reception of sonar signals by the sonar transceiver antenna components, and can analyze the received sonar signals to obtain sonar positioning data.

[0019] Optionally, the controller further includes a wireless transmission module, which is communicatively connected to the main control chip and is used to wirelessly transmit sonar positioning data and control instructions to a remote control center.

[0020] By adopting the above technical solution, the wireless transmission module can be a wireless communication network based on Beidou short messages, which can realize wireless transmission over longer distances and be used for wireless exchange of sonar positioning data and control instructions between the controller and the remote control center. Multiple sonar buoy devices arranged in the same area can also realize self-organizing networking and exchange of sonar data.

[0021] Optionally, the power supply component includes a lithium battery pack and a seawater battery module. The lithium battery pack is arranged in the electrical cavity to power each electrical component separately. The seawater battery module is arranged on the side of the floating platform, uses seawater to generate electricity, and charges the lithium battery pack through a charging device.

[0022] Using seawater batteries to supplement the power of lithium battery packs can greatly increase the endurance of the sonar buoy device and is not affected by weather.

[0023] Optionally, a solar charging module is also included, which includes a solar panel, a photovoltaic controller and a lithium battery charger. The solar panel is arranged on the upper surface of the floating platform, and the photovoltaic controller and the lithium battery charger are respectively arranged in the electrical cavity. The photovoltaic controller charges the lithium battery pack through the lithium battery charger.

[0024] By adopting the above technical solution, the sonar buoy device floats on the water surface and uses solar charging to charge the lithium battery pack, greatly improving the endurance of the sonar buoy device.

[0025] A control method for a sonar buoy device with an autonomous flight function specifically comprises the following steps:

[0026] Step 1: The remote control center sends the location coordinates of the sonar buoy's destination and sonar detection plan parameters through the wireless transmission module;

[0027] Step 1: After receiving the position coordinates and sonar detection scheme parameters, the main control chip obtains the current position coordinates through the global satellite navigation GNSS module and issues flight action instructions to the flight control chip;

[0028] Step 1: The main control chip controls the opening of multiple electric control doors, and multiple electric linear guides are respectively actuated to lift the rotor mechanism to the upper surface of the floating platform;

[0029] In the following steps, the flight control chip controls the start-up of multiple rotor motors to realize the takeoff of the sonar buoy device. The flight control chip plans the flight path according to the coordinates of the destination location and controls the speed of the rotor motors to realize the steering and flight direction control, thereby driving the sonar buoy device to autonomously fly to the target area directly above the water surface and land.

[0030] In the steps, the floating platform floats the sonar buoy device on the water surface under the buoyancy of the water, the sonar control module controls the sonar transceiver antenna assembly to start, and begins to execute the sonar detection plan parameters for sonar detection. The sonar control module analyzes the received sonar signal to obtain sonar positioning data, and wirelessly exchanges the sonar positioning data to the remote control center through the wireless transmission module.

[0031] In summary, the present invention includes at least one of the following beneficial technical effects:

[0032] The present invention can provide a sonobuoy device with autonomous flight function and a control method. By combining the flight mechanism and the sonobuoy, a sonobuoy capable of autonomous flight and self-charging is realized. The sonobuoy can be deployed and recovered at any time as needed, thereby improving deployment efficiency and flexibility.

[0033] By installing seawater batteries, seawater can be used to generate electricity, providing better endurance. At the same time, a solar charging device can be installed to use solar energy to provide power for the sonar buoy, extending the working time and lifespan, and reducing the cost of use and the difficulty of maintenance.

[0034] By setting up a wireless communication module, data can be exchanged with other sonar buoys or designated receiving devices, realizing data sharing and collaboration. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a structural schematic diagram of a sonar buoy device with autonomous flight function according to the present invention;

[0036] Figure 2 This is a schematic diagram of the structure of a sonar buoy device with autonomous flight function in a flying state;

[0037] Figure 3 The diagram is a schematic diagram of the connection principle of electrical components of a sonar buoy device with autonomous flight function according to the present invention.

[0038] Explanation of the accompanying symbols: 1. Sonar buoy assembly; 11. Floating platform; 111. Flight assembly mounting hole; 112. Clamping structure; 113. Antenna mounting hole; 12. Sonar transceiver antenna assembly; 2. Controller; 21. Main control chip; 22. Flight control chip; 23. Global satellite navigation GNSS module; 24. Sonar control module; 25. Wireless transmission module; 31. Electric lifting mechanism; 312. Linear guide; 313. Electric linear guide; 32. Rotor base; 33. Rotor mechanism; 331. Spoke; 332. Rotor motor; 333. Rotor; 334. Electric control door; 41. Lithium battery pack; 421. Solar panel; 422. Photovoltaic controller; 423. Lithium battery charger. DETAILED DESCRIPTION

[0039] The present invention will be further described in detail below with reference to the accompanying drawings.

[0040] The embodiment of the present invention discloses a sonar buoy device with autonomous flight function and a control method.

[0041] Reference Figure 1 - Figure 3A sonar buoy device with autonomous flight function, the sonar buoy device includes a sonar buoy component 1, multiple autonomous flight components, a chip-based controller 2 and a power supply component;

[0042] The sonar buoy assembly 1 includes a floating platform 11 and a sonar transceiver antenna assembly 12. The upper surface of the floating platform 11 is provided with multiple flight component mounting holes 111, the side is provided with a clamping structure 112, the bottom is provided with an antenna mounting hole 113, and the interior is provided with an electrical cavity. Multiple autonomous flight components are respectively installed at the multiple flight component mounting holes 111 to provide lift for the sonar buoy assembly 1. The clamping structure 112 is used to dock the delivery unit 100. The controller 2 and the power supply assembly are both arranged in the electrical cavity. The controller 2 is respectively controlled and connected with the autonomous flight component and the sonar transceiver antenna assembly 12, and the power supply assembly supplies power to each electrical component.

[0043] The design idea of ​​the entire sonar buoy device is to integrate autonomous flight components on the basis of traditional sonar buoys. The clip-on structure 112 can be a hook-like design, which can be used in conjunction with aircraft to achieve airdrops. The clip-on structure 112 is first mounted on the aviation hook in the aircraft cavity. When airdrop is required, the aviation hook is unhooked to achieve airdrop of the sonar buoy device. At the same time, a chip-based controller 2 is used to automatically control the sonar transceiver antenna component 12 of the sonar buoy and the autonomous flight component. It can be autonomously deployed and recovered at any time as needed, thereby improving deployment efficiency and flexibility.

[0044] The autonomous flight component includes an electric lifting mechanism 31, a rotor base 32 and a rotor mechanism 33. The electric lifting mechanism 31 is arranged on the inner wall of the flight component mounting hole 111. The rotor base 32 is installed on the lifting part of the electric lifting mechanism 31, and is driven by the lifting part to rise out of the floating platform 11 and descend and retract into the flight component mounting hole 111. The controller 2 controls the execution actions of the electric lifting mechanism 31 and the rotor mechanism 33 respectively.

[0045] Since the autonomous flight component is integrated, in order to ensure the stability of the sonar buoy device, it is necessary to design the rotor mechanism 33 so that it can be autonomously retracted to the floating platform 11 to avoid instability caused by the wind on the water surface acting on the rotor mechanism 33. In specific applications, if the autonomous flight component is required to provide lift, the electric lifting mechanism 31 will operate to drive the rotor base 32 and the rotor mechanism 33 to the upper surface of the floating platform 11, and lock the rotor base 32 and the rotor mechanism 33 under the control of the self-locking mechanism. The rotor mechanism 33 can then be started to provide lift.

[0046] The electric lifting mechanism 31 includes three linear guides 312 and an electric linear guide 313. The tracks of the three linear guides 312 and the electric linear guide 313 are respectively installed on the inner walls of the flight component mounting hole 111. The outer walls of the rotor base 32 are respectively connected to the sliders of the three linear guides 312 and the electric linear guide 313, and rise and fall under the drive of the slider of the electric linear guide 313. The controller 2 controls the execution action of the electric linear guide 313.

[0047] The design concept of the electric lifting mechanism 31 is to adopt three linear guides 312 and an electric linear guide 313 surrounding the rotor base 32, among which the electric linear guide 313 serves as the power source for lifting. Since the rotor base 32 and the rotor mechanism 33 adopt a structural design similar to the rotor of a drone, their weight is relatively light. Both the linear guide 312 and the electric linear guide 313 can use thin linear guides to reduce the weight of the sonar buoy device as much as possible.

[0048] The rotor base 32 is an annular structure, and the rotor mechanism 33 includes multiple spokes 331, a rotor motor 332 and a rotor 333. One end of the multiple spokes 331 is respectively connected to the inner wall of the rotor base 32, and the other end is respectively connected to the outer wall of the casing of the rotor motor 332. The rotating shaft of the rotor motor 332 is upward, and the center line coincides with the central axis of the rotor base 32. The rotor 333 is set on the rotating shaft of the rotor motor 332, and rotates to provide lift. The controller 2 controls the execution action of the rotor motor 332.

[0049] The rotor base 32 adopts an annular structure, which serves as both a mounting carrier for the rotor mechanism 33 and a protective cover for the rotor 333. Because the rotor mechanism 33 needs to be raised and lowered, setting a protective cover for the rotor base 32 can effectively protect the rotor 333 from external interference.

[0050] The rotor mechanism 33 also includes an electric control door 334, which is set at the top of the flight component installation hole 111. When the flight component is required to move, the controller 2 controls the electric control door 334 to open, and when the flight component is not required to move, the electric control door 334 is closed.

[0051] The autonomous flight component can also be a coaxial twin-rotor aircraft, which is arranged on the top of the floating platform 11. The coaxial twin-rotor aircraft provides flight power for the sonar buoy device. When flying to the set target, the floating platform 11 lands on the water surface, the propeller of the coaxial twin-rotor aircraft automatically folds, and the sonar transceiver antenna component 12 is unfolded and enters the working state. When a go-around is required, the sonar transceiver antenna component 12 is retracted, and the propeller of the coaxial twin-rotor aircraft is unfolded to enter the go-around mode.

[0052] The electric control door 334 is set so that when the flight component does not need to move, the electric control door 334 needs to be closed to prevent water vapor and splashes on the water surface from affecting the rotor mechanism 33.

[0053] The controller 2 includes a main control chip 21, a flight control chip 22, a global satellite navigation GNSS module 23 and a sonar control module 24. The main control chip 21 is respectively communicated with the flight control chip 22, the global satellite navigation GNSS module 23 and the sonar control module 24. The flight control chip 22 realizes autonomous flight by controlling the execution of the rotor motor 332. The global satellite navigation GNSS module 23 is used to provide positioning signals. The sonar control module 24 is used to control the sonar transceiver antenna assembly 12 to transmit and receive sonar signals, and analyze the received sonar signals to obtain sonar positioning data.

[0054] The controller 2 needs to complete the following controls: motion control of various electrical components, flight navigation control of multiple rotor mechanisms 33, and control of the sonar transceiver antenna assembly 12. Therefore, a main control chip 21 is set to realize the motion control of multiple electrical components, and a flight control chip 22 is used to realize the flight control of simulated multi-rotors, generally similar to a four-rotor structure drone. By controlling the speed of each rotor motor 332, the steering and flight attitude are adjusted to achieve autonomous flight. The global satellite navigation GNSS module 23 is used to provide positioning signals. The sonar control module 24 uses a mature sonar control unit to control the transmission and reception of sonar signals by the sonar transceiver antenna assembly 12, and can analyze the received sonar signals to obtain sonar positioning data.

[0055] The controller 2 further includes a wireless transmission module 25 , which is in communication with the main control chip 21 and is used for wirelessly transmitting sonar positioning data and control instructions to a remote control center.

[0056] The wireless transmission module can be a wireless communication network based on Beidou short messages, which can realize wireless transmission over longer distances. It is used for wireless exchange of sonar positioning data and control instructions between the controller and the remote control center. Multiple sonar buoy devices arranged in the same area can also realize self-organizing networking and exchange of sonar data.

[0057] The power supply assembly includes a lithium battery pack 41 and a seawater battery module. The lithium battery pack 41 is arranged in the electrical cavity to power each electrical component respectively. The seawater battery module is arranged on the side of the floating platform 11, uses seawater to generate electricity, and charges the lithium battery pack 41 through a charging device.

[0058] The use of seawater batteries to supplement the lithium battery pack 41 can greatly increase the endurance of the sonar buoy device and is not affected by weather.

[0059] It also includes a solar charging module, which includes a solar panel 421, a photovoltaic controller 422 and a lithium battery charger 423. The solar panel 421 is arranged on the upper surface of the floating platform 11, and the photovoltaic controller 422 and the lithium battery charger 423 are respectively arranged in the electrical cavity. The photovoltaic controller 422 charges the lithium battery pack 41 through the lithium battery charger 423.

[0060] The sonar buoy device floats on the water surface and uses solar charging to charge the lithium battery pack 41, which greatly improves the endurance of the sonar buoy device.

[0061] A control method for a sonar buoy device with an autonomous flight function specifically comprises the following steps:

[0062] Step 1: The remote control center sends the sonar buoy's destination coordinates and sonar detection plan parameters via the wireless transmission module 25;

[0063] Step 2: After receiving the position coordinates and sonar detection solution parameters, the main control chip 21 obtains the current position coordinates through the global satellite navigation GNSS module 23 and issues flight action instructions to the flight control chip 22;

[0064] Step 3: The main control chip 21 controls the multiple electric control doors 334 to open, and the multiple electric linear guide rails 313 respectively operate to lift the rotor mechanism 33 to the upper surface of the floating platform 11;

[0065] Step 4: The flight control chip 22 controls the multiple rotor motors 332 to start, enabling the sonobuoy to take off. The flight control chip 22 plans a flight path based on the destination coordinates and controls the rotation speed of the rotor motors 332 to control the steering and flight direction, driving the sonobuoy to autonomously fly directly above the water surface at the target location and land.

[0066] In step 5, the floating platform 11 floats the sonar buoy device on the water surface under the buoyancy of the water, and the sonar control module 24 controls the sonar transceiver antenna assembly 12 to start and start executing the sonar detection scheme parameters to perform sonar detection. The sonar control module 24 analyzes the received sonar signal to obtain sonar positioning data, and wirelessly exchanges the sonar positioning data to the remote control center through the wireless transmission module 25.

[0067] The implementation principles of a sonar buoy device with autonomous flight function and a control method according to an embodiment of the present invention are as follows:

[0068] In a sonar detection task in a specific ocean scenario, the remote control center issues the location coordinates of the sonar buoy's destination and sonar detection plan parameters through the wireless transmission module 25;

[0069] After receiving the position coordinates and sonar detection scheme parameters, the main control chip 21 obtains the current position coordinates through the global satellite navigation GNSS module 23 and issues flight action instructions to the flight control chip 22;

[0070] The main control chip 21 controls the multiple electric control doors 334 to open, and the multiple electric linear guide rails 313 respectively operate to lift the rotor mechanism 33 to the upper surface of the floating platform 11;

[0071] The flight control chip 22 controls the activation of the multiple rotor motors 332 to achieve takeoff of the sonar buoy device. The flight control chip 22 plans the flight path according to the coordinates of the destination location and controls the rotation speed of the rotor motors 332 to achieve steering and flight direction control, thereby driving the sonar buoy device to autonomously fly to the target area directly above the water surface and land.

[0072] Under the buoyancy of the water, the floating platform 11 floats the sonar buoy device on the water surface. The sonar control module 24 controls the sonar transceiver antenna assembly 12 to start and start executing the sonar detection scheme parameters for sonar detection. The sonar control module 24 analyzes the received sonar signal to obtain sonar positioning data, and wirelessly exchanges the sonar positioning data to the remote control center through the wireless transmission module 25.

[0073] The above are all preferred embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A sonar buoy device with autonomous flight function, characterized by: The sonobuoy device includes a sonobuoy component (1), a plurality of autonomous flight components, a chip-based controller (2) and a power supply component; The sonar buoy assembly (1) comprises a floating platform (11) and a sonar transceiver antenna assembly (12); the floating platform (11) is provided with a plurality of flight assembly mounting holes (111) on its upper surface, a clamping structure (112) on its side, an antenna mounting hole (113) on its bottom, and an electrical chamber inside; a plurality of autonomous flight assemblies are respectively mounted at the plurality of flight assembly mounting holes (111) to provide lift for the sonar buoy assembly (1); the clamping structure (112) is used to dock with a delivery unit (100); the controller (2) and the power supply assembly are both arranged in the electrical chamber; the controller (2) is respectively connected to the autonomous flight assembly and the sonar transceiver antenna assembly (12); and the power supply assembly supplies power to each electrical component; The autonomous flight component comprises an electric lifting mechanism (31), a rotor base (32) and a rotor mechanism (33); the electric lifting mechanism (31) is arranged on the inner wall of a flight component mounting hole (111); the rotor base (32) is mounted on a lifting portion of the electric lifting mechanism (31) and is driven by the lifting portion to rise to expose the floating platform (11) and to descend to retract into the flight component mounting hole (111); and a controller (2) controls the execution actions of the electric lifting mechanism (31) and the rotor mechanism (33) respectively.

2. The sonobuoy device with autonomous flight function according to claim 1, characterized in that: The electric lifting mechanism (31) comprises three linear guide rails (312) and an electric linear guide rail (313). The rails of the three linear guide rails (312) and the electric linear guide rail (313) are respectively mounted on the inner wall of the flight component mounting hole (111). The outer wall of the rotor base (32) is respectively connected to the sliders of the three linear guide rails (312) and the electric linear guide rail (313). The rotor base (32) rises and falls under the drive of the sliders of the electric linear guide rail (313). The controller (2) controls the execution of the electric linear guide rail (313).

3. The sonobuoy device with autonomous flight function according to claim 2, characterized in that: The rotor base (32) is an annular structure. The rotor mechanism (33) includes a plurality of spokes (331), a rotor motor (332) and a rotor (333). One end of the plurality of spokes (331) is respectively connected to the inner wall of the rotor base (32), and the other end is respectively connected to the outer wall of the housing of the rotor motor (332). The rotating shaft of the rotor motor (332) is upward, and the axis coincides with the central axis of the rotor base (32). The rotor (333) is arranged on the rotating shaft of the rotor motor (332) and rotates to provide lift. The controller (2) controls the execution of the rotor motor (332).

4. The sonobuoy device with autonomous flight function according to claim 3, characterized in that: The rotor mechanism (33) further comprises an electric control door (334), which is arranged at the top of the flight component mounting hole (111). When the flight component is required to move, the controller (2) controls the electric control door (334) to open, and when the flight component is not required to move, the electric control door (334) is closed.

5. The sonobuoy device with autonomous flight function according to claim 4, characterized in that: The controller (2) comprises a main control chip (21), a flight control chip (22), a global satellite navigation GNSS module (23) and a sonar control module (24); the main control chip (21) is respectively connected to the flight control chip (22), the global satellite navigation GNSS module (23) and the sonar control module (24); the flight control chip (22) realizes autonomous flight by controlling the execution of a rotor motor (332); the global satellite navigation GNSS module (23) is used to provide a positioning signal; the sonar control module (24) is used to control the sonar transceiver antenna assembly (12) to transmit and receive sonar signals, and analyze the received sonar signals to obtain sonar positioning data.

6. The sonobuoy device with autonomous flight function according to claim 5, characterized in that: The controller (2) further comprises a wireless transmission module (25), which is in communication with the main control chip (21) and is used for wirelessly transmitting sonar positioning data and control instructions to a remote control center.

7. The sonobuoy device with autonomous flight function according to claim 6, characterized in that: The power supply assembly comprises a lithium battery pack (41) and a seawater battery module. The lithium battery pack (41) is arranged in the electrical cavity and supplies power to each electrical device respectively. The seawater battery module is arranged on the side of the floating platform (11), uses seawater to generate electricity, and charges the lithium battery pack (41) through a charging device.

8. The sonobuoy device with autonomous flight function according to claim 7, characterized in that: The device further comprises a solar charging module, the solar charging module comprising a solar panel (421), a photovoltaic controller (422) and a lithium battery charger (423), the solar panel (421) being arranged on the upper surface of the floating platform (11), the photovoltaic controller (422) and the lithium battery charger (423) being arranged in the electrical cavity respectively, and the photovoltaic controller (422) charging the lithium battery pack (41) through the lithium battery charger (423).

9. A control method for a sonar buoy device with autonomous flight function, characterized in that: Using the sonar buoy device with autonomous flight function as claimed in claim 8 to perform sonar detection specifically includes the following steps: Step 1: The remote control center issues the location coordinates of the sonar buoy's destination and sonar detection scheme parameters through the wireless transmission module (25); Step 2: After receiving the position coordinates and sonar detection scheme parameters, the main control chip (21) obtains the current position coordinates through the global satellite navigation GNSS module (23) and issues flight action instructions to the flight control chip (22); Step 3: The main control chip (21) controls the multiple electric control doors (334) to open, and the multiple electric linear guide rails (313) respectively operate to lift the rotor mechanism (33) to the upper surface of the floating platform (11); Step 4: The flight control chip (22) controls the plurality of rotor motors (332) to start respectively, thereby realizing the take-off of the sonar buoy device. The flight control chip (22) performs track planning according to the coordinates of the destination position, and controls the rotation speed of the rotor motors (332) respectively to realize the control of the steering and flight direction, thereby realizing the driving of the sonar buoy device to autonomously fly to the target area directly above the water surface and land. In step 5, the floating platform (11) floats the sonar buoy device on the water surface under the buoyancy of the water, and the sonar control module (24) controls the sonar transceiver antenna assembly (12) to start and start executing the sonar detection program parameters to perform sonar detection. The sonar control module (24) analyzes the received sonar signal to obtain sonar positioning data, and wirelessly exchanges the sonar positioning data to the remote control center through the wireless transmission module (25).

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