An unmanned airborne migratory sonar detection system and method

Abstract

The application provides an unmanned aerial vehicle-mounted migratory sonar detection system and method. The unmanned aerial vehicle-mounted migratory sonar detection system comprises an unmanned aerial vehicle platform, a float, an explosive sound source transmitter, explosive sound sources and a suspended sonar sensor. The float is installed on the fuselage structure of the unmanned aerial vehicle platform and is used to provide sufficient buoyancy to support the unmanned aerial vehicle platform to berth in the water surface. The explosive sound source transmitter is carried on the unmanned aerial vehicle platform and is used to accommodate a plurality of explosive sound sources and emit the explosive sound sources in the operation area. The technical scheme adopted by the application has the advantages of low cost, light weight and easy implementation, and can meet the actual needs of small water surface ships in low-cost, unmanned large-scale underwater target and terrain detection.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) payload technology, specifically relating to an unmanned aerial vehicle (UAV)-borne migratory sonar detection system and method. Background Technology

[0002] Sonar is a technology that utilizes the propagation and reflection characteristics of sound waves in water to perform navigation and ranging through sound-to-electricity conversion and information processing. Using sonar technology to map maritime routes helps ensure shipping safety. Furthermore, sonar is a primary detection device for searching, locating, and monitoring underwater submarines.

[0003] Despite significant advancements in sonar technology, the rapid development of noise reduction technologies such as submarine anechoic tiles has posed considerable challenges to the detection range and accuracy of existing sonar technologies. Therefore, a low-cost, high-precision sonar system is urgently needed. Currently, the rapid development of unmanned aerial vehicle (UAV) technology provides a solid platform foundation for the application of small and medium-sized UAVs in large-scale marine exploration and surveillance. The payload of small and medium-sized UAVs requires careful consideration of weight and power consumption; however, existing sonar systems generally weigh over 50 kg, and there is currently no dedicated sonar system suitable for small and medium-sized UAVs, hindering the widespread application of UAVs in marine monitoring. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an unmanned aerial vehicle (UAV)-borne migratory sonar detection system and method, which can effectively solve the above-mentioned problems.

[0005] The technical solution adopted in this invention is as follows:

[0006] The present invention provides an unmanned aerial vehicle (UAV)-borne migratory sonar detection system, comprising: an UAV platform (1), a float (2), an explosion sound source transmitter (3), an explosion sound source (4), and a suspended sonar sensor (5);

[0007] The unmanned aerial vehicle platform (1) is used to carry the explosion sound source transmitter (3) and the suspended sonar sensor (5);

[0008] The pontoon (2) is installed on the fuselage structure of the UAV platform (1) to provide sufficient buoyancy to support the UAV platform (1) in mooring operations on the water surface;

[0009] The explosion sound source transmitter (3) is mounted on the UAV platform (1) and is used to accommodate a plurality of explosion sound sources (4) and to emit the explosion sound sources (4) in the work area;

[0010] The explosion sound source (4) is contained in the explosion sound source transmitter (3), and after being emitted, it explodes in the water in a preset manner to generate an active sound source;

[0011] The suspended sonar sensor (5) is mounted on the UAV platform (1). When not in operation, it is stored inside the UAV platform (1). When the UAV platform (1) is moored on the water surface, it is suspended to a predetermined water depth to detect and record the sound wave signal reflected after the active sound source emitted by the explosion sound source (4) comes into contact with an underwater object.

[0012] Preferably, the unmanned aerial vehicle platform (1) adopts a hybrid layout of multi-rotor and fixed-wing, and has both vertical take-off and landing and rapid forward flight capabilities.

[0013] Preferably, the unmanned aerial vehicle platform (1) includes a fuselage (1-1), a left fixed wing (1-2), a right fixed wing (1-3), a left rotor strut (1-4), a right rotor strut (1-5), a left front rotor (1-6), a left rear rotor (1-7), a right front rotor (1-8), a right rear rotor (1-9), and a tail strut (1-10); the floats (2) include a left float (2-1) and a right float (2-2);

[0014] The left fixed wing (1-2) and the right fixed wing (1-3) are symmetrically mounted on the left and right sides of the fuselage (1-1);

[0015] The left rotor strut (1-4), parallel to the centerline of the fuselage (1-1), is fixedly installed below the left fixed wing (1-2). The head end of the left rotor strut (1-4) is located in front of the left fixed wing (1-2), and the tail end of the left rotor strut (1-4) is located behind the left fixed wing (1-2). The left front rotor (1-6) is installed on the head end of the left rotor strut (1-4); the left rear rotor (1-7) is installed on the tail end of the left rotor strut (1-4).

[0016] The right rotor strut (1-5) is fixedly installed below the right fixed wing (1-3), parallel to the centerline of the fuselage (1-1). The head end of the right rotor strut (1-5) is located in front of the right fixed wing (1-3), and the tail end of the right rotor strut (1-5) is located behind the right fixed wing (1-3). The right front rotor (1-8) is installed on the head end of the right rotor strut (1-5); the right rear rotor (1-9) is installed on the tail end of the right rotor strut (1-5).

[0017] The left-side float (2-1) is fixedly installed below the left-side rotor strut (1-4); the right-side float (2-2) is fixedly installed below the right-side rotor strut (1-5);

[0018] The tail support rod (1-10) is located at the rear of the fuselage (1-1), and its two ends are respectively connected to the tail ends of the left rotor support rod (1-4) and the right rotor support rod (1-5), so that the left rotor support rod (1-4) and the right rotor support rod (1-5) are connected to form a whole.

[0019] Preferably, the lengths of the left rotor strut (1-4) and the right rotor strut (1-5) are 2 to 3 times the length of the fuselage (1-1); wherein the head ends of the left rotor strut (1-4) and the right rotor strut (1-5) are located behind the head of the fuselage (1-1) and in front of the tail of the fuselage (1-1);

[0020] The distance between the longitudinal centerline of the left rotor strut (1-4) and the right rotor strut (1-5) and the longitudinal centerline of the fuselage (1-1) is 0.2 to 0.5 times the length of the fuselage (1-1).

[0021] Preferably, the left float (2-1) and the right float (2-2) have the same structure, and their lengths are the same as those of the left rotor strut (1-4) and the right rotor strut (1-5). The top surface of the left float (2-1) and the right float (2-2) is flat, and the bottom surface is concave. Their thickness gradually increases from head to tail, and then gradually decreases after reaching the longitudinal center position, forming a flattened, upturned shape at the tail.

[0022] Preferably, the left fixed wing (1-2) intersects with the left rotor strut (1-4) at a position where its span is 0.2 to 0.3; and the right fixed wing (1-3) intersects with the right rotor strut (1-5) at a position where its span is 0.2 to 0.3.

[0023] Preferably, the explosion sound source (4) is equipped with a timed fuse or a depth-controlled fuse according to the operational requirements.

[0024] The present invention also provides a method for an unmanned aerial vehicle (UAV)-borne migratory sonar detection system, comprising the following steps:

[0025] Step 1: The ship carries an unmanned aerial vehicle (UAV)-borne migratory sonar detection system to the outer edge of the operating area;

[0026] Step 2: The UAV-borne migratory sonar detection system takes off from the ship's deck and flies to hover directly over the waters to be detected;

[0027] Step 3, then, the explosion sound source transmitter (3) launches the explosion sound source (4) into the water; the UAV-borne migratory sonar detection system lands and floats on the water surface around the explosion sound source (4) releases the suspended sonar sensor (5) to the predetermined water depth, the explosion sound source (4) explodes and generates an active sound source, and the suspended sonar sensor (5) receives the underwater acoustic information after the active sound source comes into contact with the underwater object;

[0028] Step 4: After the detection is completed, retrieve the suspended sonar sensor (5), and the UAV-borne migratory sonar detection system takes off and flies to the next detection area; repeat the above detection process to obtain a wide range of underwater monitoring data.

[0029] The UAV-borne migratory sonar detection system and method provided by this invention have the following advantages:

[0030] The technical solution adopted in this invention has the advantages of low cost, light weight and easy implementation, and can meet the actual needs of small surface vessels for low cost, unmanned large-area underwater target and terrain detection. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of an unmanned aerial vehicle (UAV)-borne migratory sonar detection system provided by the present invention;

[0032] Figure 2 This is a schematic diagram illustrating the workflow of an unmanned aerial vehicle (UAV)-borne migratory sonar detection system provided by the present invention. Detailed Implementation

[0033] To make the technical problems solved, the technical solutions, and the beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the invention.

[0034] In the description of this application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0035] To address the limitations of existing active sonar detection systems, such as their large weight and high power consumption, which restrict their application to small and medium-sized UAVs, this invention provides an UAV-borne migratory sonar detection system that can achieve similar effects to existing active sonar systems with lower power consumption and weight, while also being easy to mount on small and medium-sized UAV platforms.

[0036] This invention discloses an unmanned aerial vehicle (UAV)-borne migratory sonar detection system. The system includes a UAV platform, floats, an explosion sound source transmitter, an explosion sound source, and a dipping sonar sensor. The floats are mounted on the fuselage of the UAV, which has vertical takeoff and landing capabilities, to provide buoyancy for the detection system during water operations. The explosion sound source is housed within the explosion sound source transmitter, and the explosion sound source and the dipping sonar sensor are mounted on the belly of the UAV. The detection system operates as follows: the UAV takes off from a surface vessel, flies to the area to be detected, and releases several explosion sound sources. The UAV lands and floats on the surface of the area, releasing the dipping sonar sensor to a predetermined depth. It detects and interprets the underwater acoustic information after the explosion sound sources contact the underwater target, obtaining information such as the location of the underwater target in the area to be detected. The technical solution adopted in this invention has the advantages of low cost, light weight, and ease of implementation, and can meet the practical needs of low-cost, unmanned, large-area underwater target and terrain detection by small surface vessels.

[0037] For details, please refer to Figure 1 The present invention provides an unmanned aerial vehicle (UAV)-borne migratory sonar detection system, comprising: an UAV platform 1, a float 2, an explosion sound source transmitter 3, an explosion sound source 4, and a suspended sonar sensor 5;

[0038] The unmanned aerial vehicle (UAV) platform 1 has an equipment bay located in its fuselage belly, which is used to carry an explosion sound source transmitter 3 and a dipping sonar sensor 5. It can carry a payload and fly to the target water area. The UAV platform can adopt a hybrid layout of multi-rotor and fixed-wing to simultaneously obtain vertical take-off capability and rapid forward flight capability, reduce the space requirement of the take-off deck, facilitate take-off and recovery on the decks of various ships, and avoid the disadvantages of poor endurance and payload capacity of pure multi-rotor layout, while also taking into account a large operating radius.

[0039] The float 2, made of lightweight materials such as foam, is installed on the fuselage structure of the UAV platform 1 to provide sufficient buoyancy to support the UAV platform 1 in docking operations on the water surface; the float 2 can adopt a streamlined drag-reducing shape structure that is integrated with the fuselage structure to reduce drag during flight.

[0040] The explosion sound source transmitter 3 is mounted on the UAV platform 1 to accommodate several explosion sound sources 4 and to launch the explosion sound sources 4 in the operation area; in order to minimize the structural weight of the transmitter, a cable-cutting type or other recommended mounting and deployment design can be adopted.

[0041] The explosion sound source 4 is housed within the explosion sound source transmitter 3. After being launched, it explodes in the water in a preset manner to generate an active sound source. Depending on the performance of the UAV and the actual operational needs, the explosion sound source 4 can be equipped with a timed fuse or a depth-controlled fuse.

[0042] The suspended sonar sensor 5 is mounted on the UAV platform 1. When not in operation, it is stored inside the UAV platform 1. When the UAV platform 1 is moored on the water surface, it is suspended to a predetermined water depth to detect and record the sound wave signal reflected after the active sound source emitted by the explosion sound source 4 comes into contact with an underwater object.

[0043] This invention specifically designs the structure of the UAV platform 1 and the float 2. On the one hand, the float is installed below the rotor strut and adopts a streamlined structure that blends with the shape of the rotor strut. The two are internally fixed together to form a streamlined drag-reducing shape while ensuring the strength and rigidity of the structure. At the same time, the relative position of the float and the UAV platform 1 and the structural parameters of the float are set. The beneficial effect is to reduce the additional drag during flight while ensuring the stability of the float on the water surface.

[0044] For details, please refer to Figure 1 The UAV platform 1 adopts a hybrid layout of multi-rotor and fixed-wing, possessing both vertical takeoff and landing and rapid forward flight capabilities. The UAV platform 1 includes a fuselage 1-1, a left fixed-wing 1-2, a right fixed-wing 1-3, a left rotor strut 1-4, a right rotor strut 1-5, a left front rotor 1-6, a left rear rotor 1-7, a right front rotor 1-8, a right rear rotor 1-9, and a tail strut 1-10; the floats 2 include a left float 2-1 and a right float 2-2.

[0045] Left fixed wing 1-2 and right fixed wing 1-3 are symmetrically installed on the left and right sides of fuselage 1-1;

[0046] A left rotor strut 1-4, parallel to the centerline of the fuselage 1-1, is fixedly installed below the left fixed wing 1-2. The head end of the left rotor strut 1-4 is located in front of the left fixed wing 1-2, and the tail end of the left rotor strut 1-4 is located behind the left fixed wing 1-2. The left front rotor 1-6 is installed on the head end of the left rotor strut 1-4; the left rear rotor 1-7 is installed on the tail end of the left rotor strut 1-4.

[0047] A right rotor strut 1-5, parallel to the centerline of fuselage 1-1, is fixedly installed below the right fixed wing 1-3. The head end of the right rotor strut 1-5 is located in front of the right fixed wing 1-3, and the tail end of the right rotor strut 1-5 is located behind the right fixed wing 1-3. The right front rotor 1-8 is installed on the head end of the right rotor strut 1-5; the right rear rotor 1-9 is installed on the tail end of the right rotor strut 1-5.

[0048] Left float 2-1 is fixedly installed below left rotor strut 1-4; right float 2-2 is fixedly installed below right rotor strut 1-5.

[0049] The tail strut 1-10 is located at the rear of the fuselage 1-1, and its two ends are connected to the tail ends of the left rotor strut 1-4 and the right rotor strut 1-5 respectively, so that the left rotor strut 1-4 and the right rotor strut 1-5 are connected to form a whole.

[0050] In one specific implementation, the lengths of the left rotor strut 1-4 and the right rotor strut 1-5 are 2 to 3 times the length of the fuselage 1-1; wherein, the head ends of the left rotor strut 1-4 and the right rotor strut 1-5 are located behind the head of the fuselage 1-1 and in front of the tail of the fuselage 1-1.

[0051] The distance between the longitudinal centerline of the left rotor strut 1-4 and the right rotor strut 1-5 and the longitudinal centerline of the fuselage 1-1 is 0.2 to 0.5 times the length of the fuselage 1-1.

[0052] At a span of 0.2 to 0.3, the left fixed wing 1-2 intersects with the left rotor strut 1-4; at a span of 0.2 to 0.3, the right fixed wing 1-3 intersects with the right rotor strut 1-5.

[0053] The left float 2-1 and the right float 2-2 have the same structure, and their lengths are the same as those of the left rotor strut 1-4 and the right rotor strut 1-5. The top surface of the left float 2-1 and the right float 2-2 is flat, and the bottom surface is concave. Their thickness gradually increases from head to tail, and then gradually decreases after reaching the longitudinal center position, forming a flattened, upturned shape at the tail.

[0054] The above structural design has been verified to effectively and significantly reduce drag during flight while ensuring the stability of the pontoon on the water surface.

[0055] This invention also provides a method for an unmanned aerial vehicle (UAV)-borne migratory sonar detection system, with reference to... Figure 2 This includes the following steps:

[0056] Step 1: The ship carries an unmanned aerial vehicle (UAV)-borne migratory sonar detection system and sails to the vicinity of the outer edge of the operating area;

[0057] Step 2: The UAV-borne migratory sonar detection system takes off from the ship's deck and flies to hover directly over the waters to be detected;

[0058] Step 3: Then, the explosion sound source transmitter 3 launches the explosion sound source 4 into the water; the UAV-borne migratory sonar detection system lands and floats on the water surface around the release point of the explosion sound source 4, and releases the dipping sonar sensor 5 to the predetermined water depth. The explosion sound source 4 explodes and generates an active sound source. The dipping sonar sensor 5 receives the underwater acoustic information after the active sound source comes into contact with the underwater object.

[0059] Step 4: After the detection is completed, retrieve the dipping sonar sensor 5, and the UAV-borne migratory sonar detection system takes off and flies to the next detection area; repeat the above detection process to obtain large-scale underwater monitoring data.

[0060] The UAV-borne migratory sonar detection system and method provided by this invention have the following advantages:

[0061] (1) The present invention adopts a system combining an explosion sound source and a suspended sonar sensor. The explosion generates strong active sound waves for detection, which can effectively solve the impact of the development of noise reduction technology for underwater vehicles such as submarines on the sonar detection range.

[0062] (2) The present invention uses an explosion method to generate active sound waves, which avoids the bulky active sound wave emitting device commonly used in aviation sonar, greatly reduces the total weight and power consumption of the detection system, and is easy to integrate into small and medium-sized UAV platforms.

[0063] (3) When the detection method adopted in this invention is combined with small and medium-sized UAV platforms, especially UAV platforms with vertical take-off and landing capabilities, it can give full play to the advantages of small and medium-sized UAVs in terms of small size and low cost. Multiple UAV systems integrated with this invention can be carried by small ships at one time to perform underwater target detection and monitoring tasks in the target sea area, achieving the effect of low cost and wide coverage.

[0064] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An unmanned aerial vehicle (UAV)-borne migratory sonar detection system, characterized in that, include: Unmanned aerial vehicle platform (1), float (2), explosion sound source transmitter (3), explosion sound source (4), and suspended sonar sensor (5); The unmanned aerial vehicle platform (1) is used to carry the explosion sound source transmitter (3) and the suspended sonar sensor (5); The pontoon (2) is installed on the fuselage structure of the UAV platform (1) to provide sufficient buoyancy to support the UAV platform (1) in mooring operations on the water surface; The explosion sound source transmitter (3) is mounted on the UAV platform (1) and is used to accommodate a plurality of explosion sound sources (4) and to emit the explosion sound sources (4) in the work area; The explosion sound source (4) is contained in the explosion sound source transmitter (3), and after being emitted, it explodes in the water in a preset manner to generate an active sound source; The suspended sonar sensor (5) is mounted on the UAV platform (1). When not in operation, it is stored inside the UAV platform (1). When the UAV platform (1) is moored on the water surface, it is suspended to a predetermined water depth to detect and record the sound wave signal reflected after the active sound source emitted by the explosion sound source (4) comes into contact with an underwater object.

2. The UAV-borne migratory sonar detection system according to claim 1, characterized in that, The unmanned aerial vehicle platform (1) adopts a hybrid layout of multi-rotor and fixed-wing, and has both vertical take-off and landing and rapid forward flight capabilities.

3. The UAV-borne migratory sonar detection system according to claim 2, characterized in that, The unmanned aerial vehicle platform (1) includes a fuselage (1-1), a left fixed wing (1-2), a right fixed wing (1-3), a left rotor strut (1-4), a right rotor strut (1-5), a left front rotor (1-6), a left rear rotor (1-7), a right front rotor (1-8), a right rear rotor (1-9), and a tail strut (1-10); the floats (2) include a left float (2-1) and a right float (2-2); The left fixed wing (1-2) and the right fixed wing (1-3) are symmetrically mounted on the left and right sides of the fuselage (1-1); The left rotor strut (1-4), parallel to the centerline of the fuselage (1-1), is fixedly installed below the left fixed wing (1-2). The head end of the left rotor strut (1-4) is located in front of the left fixed wing (1-2), and the tail end of the left rotor strut (1-4) is located behind the left fixed wing (1-2). The left front rotor (1-6) is installed on the head end of the left rotor strut (1-4); the left rear rotor (1-7) is installed on the tail end of the left rotor strut (1-4). The right rotor strut (1-5) is fixedly installed below the right fixed wing (1-3), parallel to the centerline of the fuselage (1-1). The head end of the right rotor strut (1-5) is located in front of the right fixed wing (1-3), and the tail end of the right rotor strut (1-5) is located behind the right fixed wing (1-3). The right front rotor (1-8) is installed on the head end of the right rotor strut (1-5); the right rear rotor (1-9) is installed on the tail end of the right rotor strut (1-5). The left-side float (2-1) is fixedly installed below the left-side rotor strut (1-4); the right-side float (2-2) is fixedly installed below the right-side rotor strut (1-5); The tail support rod (1-10) is located at the rear of the fuselage (1-1), and its two ends are respectively connected to the tail ends of the left rotor support rod (1-4) and the right rotor support rod (1-5), so that the left rotor support rod (1-4) and the right rotor support rod (1-5) are connected to form a whole.

4. The UAV-borne migratory sonar detection system according to claim 3, characterized in that, The lengths of the left rotor strut (1-4) and the right rotor strut (1-5) are 2 to 3 times the length of the fuselage (1-1); wherein the head ends of the left rotor strut (1-4) and the right rotor strut (1-5) are located behind the head of the fuselage (1-1) and in front of the tail of the fuselage (1-1); The distance between the longitudinal centerline of the left rotor strut (1-4) and the right rotor strut (1-5) and the longitudinal centerline of the fuselage (1-1) is 0.2 to 0.5 times the length of the fuselage (1-1).

5. The UAV-borne migratory sonar detection system according to claim 3, characterized in that, The left float (2-1) and the right float (2-2) have the same structure, and their lengths are the same as those of the left rotor strut (1-4) and the right rotor strut (1-5). The top surface of the left float (2-1) and the right float (2-2) is flat, and the bottom surface is concave. Their thickness gradually increases from head to tail, and then gradually decreases after reaching the longitudinal center position, forming a flattened, upturned shape at the tail.

6. The UAV-borne migratory sonar detection system according to claim 3, characterized in that, At a position where the left fixed wing (1-2) has a span of 0.2 to 0.3, it intersects with the left rotor strut (1-4); at a position where the right fixed wing (1-3) has a span of 0.2 to 0.3, it intersects with the right rotor strut (1-5).

7. The UAV-borne migratory sonar detection system according to claim 1, characterized in that, The explosion sound source (4) is equipped with a timed fuse or a depth-controlled fuse according to the operational requirements.

8. A method for an unmanned aerial vehicle (UAV)-borne migratory sonar detection system according to any one of claims 1-7, characterized in that, Includes the following steps: Step 1: The ship carries an unmanned aerial vehicle (UAV)-borne migratory sonar detection system to the outer edge of the operating area; Step 2: The UAV-borne migratory sonar detection system takes off from the ship's deck and hovers directly over the waters to be detected; Step 3, then, the explosion sound source transmitter (3) launches the explosion sound source (4) into the water; the UAV-borne migratory sonar detection system lands and floats on the water surface around the explosion sound source (4) releases the suspended sonar sensor (5) to the predetermined water depth, the explosion sound source (4) explodes and generates an active sound source, and the suspended sonar sensor (5) receives the underwater acoustic information after the active sound source comes into contact with the underwater object; Step 4: After the detection is completed, retrieve the suspended sonar sensor (5), and the UAV-borne migratory sonar detection system takes off and flies to the next detection area; repeat the above detection process to obtain a wide range of underwater monitoring data.

Images