Power supply control method and device for acoustic deepwater towing system

Abstract

The present application relates to the field of marine equipment control technology, and provides a power supply control method and device for an acoustic deepwater towing system. The acoustic deepwater towing system includes a ship and an underwater electronic cabin, and the ship and the underwater electronic cabin are connected by a cable; the method includes: in response to a prompt signal prompting the underwater electronic cabin to start entering the water, determining the initial position of the underwater electronic cabin according to the current position of the ship; determining the current position of the underwater electronic cabin according to the initial position of the underwater electronic cabin and the inertial navigation data uploaded by the inertial navigation device carried by the underwater electronic cabin; determining the current distance between the underwater electronic cabin and the ship according to the current position of the underwater electronic cabin and the current position of the ship, so as to power at least one sensor device carried by the underwater electronic cabin and turn on the sensor device when the current distance reaches a preset distance. The power supply control method for an acoustic deepwater towing system provided in an embodiment of the present application can improve the accuracy of underwater detection.

Description

Technical Field

[0001] The present application relates to the technical field of marine equipment control, and in particular to a power supply control method and device for an acoustic deepwater towing system. Background Art

[0002] The acoustic deepwater towed system is a near-seabed, high-resolution deep-sea geological and geophysical integrated observation system towed at the stern of a ship. It includes a ship and an underwater electronic cabin, which is connected to the ship by a cable. In related technologies, when underwater signal collection is required, the sensor equipment on the underwater electronic cabin can be turned on, and the underwater electronic cabin can be put into the water as the towed body of the ship. The underwater signal is collected through the sensor equipment carried by the underwater electronic cabin and uploaded to the ship to achieve underwater detection.

[0003] However, if the above method is used for underwater signal collection, when the sensor equipment on the underwater electronic cabin is turned on, the ship may cause signal interference to some sensor equipment, causing the underwater signal obtained in the initial stage of signal collection to be unreliable. However, at this time, it is difficult to effectively distinguish whether the collected signal is an unreliable signal in the initial stage of signal collection, which affects the accuracy of underwater detection. Summary of the invention

[0004] The present application aims to solve at least one of the technical problems existing in the related art. To this end, the present application proposes a power supply control method for an acoustic deepwater towing system, which can improve the accuracy of underwater detection.

[0005] The present application also proposes a power supply control device for an acoustic deep-water towing system.

[0006] The application also provides an electronic device.

[0007] The present application also proposes a computer-readable storage medium.

[0008] According to the power supply control method of the acoustic deepwater towing system of the first aspect of the present application, the acoustic deepwater towing system includes a ship and an underwater electronic cabin, and the ship and the underwater electronic cabin are connected by a cable;

[0009] The method comprises:

[0010] In response to a prompt signal prompting the underwater electronic compartment to start entering water, determining an initial position of the underwater electronic compartment according to a current position of the ship;

[0011] Determine the current position of the underwater electronic compartment according to the initial position of the underwater electronic compartment and the inertial navigation data uploaded by the inertial navigation device carried by the underwater electronic compartment;

[0012] Determine the current distance between the underwater electronic compartment and the ship according to the current position of the underwater electronic compartment and the current position of the ship, so as to power at least one sensor device carried by the underwater electronic compartment and turn on the sensor device when the current distance reaches a preset distance;

[0013] Wherein, the sensing device includes an acoustic positioning beacon, and the preset distance is determined according to an effective signal receiving distance between the acoustic positioning beacon and an acoustic information receiving device carried by the ship.

[0014] By responding to the prompt signal that the underwater electronic compartment begins to enter the water, the initial position of the underwater electronic compartment is determined according to the current position of the ship, the current position of the underwater electronic compartment is determined according to the initial position of the underwater electronic compartment and the inertial navigation data uploaded by the inertial navigation device carried by the underwater electronic compartment, and the current distance between the underwater electronic compartment and the ship is determined according to the current position of the underwater electronic compartment and the current position of the ship, so that when the current distance reaches the preset distance, the acoustic positioning beacon in the sensor device carried by the underwater electronic compartment is powered to turn on the acoustic positioning beacon. This can reduce the signal interference caused by the ship to some sensor devices in the early stage of signal collection, and there is no need to distinguish whether the collected signal is an unreliable signal in the early stage of signal collection, thereby improving the accuracy of underwater detection.

[0015] According to one embodiment of the present application, the sensing device further comprises a Doppler odometer;

[0016] When the current distance reaches the preset distance, powering at least one sensor device carried by the underwater electronic cabin and turning on the sensor device includes:

[0017] When the current distance reaches a preset distance, powering the acoustic positioning beacon carried by the underwater electronic cabin and turning on the acoustic positioning beacon;

[0018] Obtaining the current minimum distance between the underwater electronic cabin and the seabed surface according to the positioning information of the underwater electronic cabin determined by the acoustic positioning beacon and the preset positioning information of the seabed surface;

[0019] Determining that the current minimum distance is less than or equal to the target distance, powering the Doppler speed meter, and turning on the Doppler speed meter;

[0020] Wherein, the target distance is determined according to the maximum detection distance of the Doppler odometer.

[0021] According to one embodiment of the present application, the sensing device further comprises a detection device for performing seabed surface detection;

[0022] The method further comprises:

[0023] Determine that the current minimum distance is less than or equal to the target distance, power the detection device, and turn on the detection device.

[0024] According to one embodiment of the present application, the method further includes:

[0025] The geological data of various places acquired by the detection equipment in the forward direction of the underwater electronic cabin are formed into a data queue according to the forward direction of the underwater electronic cabin, and input into the trained geological prediction model to obtain the predicted geological data of the future seabed area located in the forward direction of the underwater electronic cabin;

[0026] According to the predicted geological data, adjusting the moving speed of the ship, and the power supply of the Doppler log and the detection equipment;

[0027] Wherein, the geological prediction model is obtained by training a plurality of sample queues, and the sample queues include a plurality of geological data samples arranged in sequence;

[0028] The seabed surface area is determined according to the current moving direction of the underwater electronic cabin and the current position of the underwater electronic cabin obtained by the acoustic positioning beacon;

[0029] The current moving direction of the underwater electronic cabin is determined by the Doppler log.

[0030] According to an embodiment of the present application, adjusting the moving speed of the ship and the power supply of the Doppler log and the detection device according to the predicted geological data includes:

[0031] According to the predicted geological data, it is determined that the future seabed surface area is higher than the seabed surface area where the underwater electronic compartment is currently located, and the moving speed of the ship and the underwater depth of the underwater electronic compartment are adjusted.

[0032] According to one embodiment of the present application, it also includes:

[0033] When the underwater electronic cabin enters the future seabed surface area, it is determined that the measured geological data of the future seabed surface area acquired by the detection equipment does not match the predicted geological data, and the measured geological data is added to the data queue to train the geological prediction model.

[0034] According to one embodiment of the present application, it also includes:

[0035] In response to an indication signal indicating the recovery of the underwater electronic compartment, the Doppler log is powered off, and when it is determined that the current distance between the underwater electronic compartment and the ship is a preset distance, the acoustic positioning beacon is powered off.

[0036] According to the power supply control device of the acoustic deepwater towing system of the second aspect of the present application, the acoustic deepwater towing system comprises a ship and an underwater electronic cabin, and the ship and the underwater electronic cabin are connected by a cable;

[0037] The device comprises:

[0038] An initial position determination module, configured to determine an initial position of the underwater electronic compartment according to a current position of the ship in response to a prompt signal prompting the underwater electronic compartment to start entering the water;

[0039] A current position determination module, used to determine the current position of the underwater electronic compartment according to the initial position of the underwater electronic compartment and the inertial navigation data uploaded by the inertial navigation device carried by the underwater electronic compartment;

[0040] a towing system control module, used to determine the current distance between the underwater electronic compartment and the ship according to the current position of the underwater electronic compartment and the current position of the ship, so as to power at least one sensor device carried by the underwater electronic compartment and turn on the sensor device when the current distance reaches a preset distance;

[0041] Wherein, the sensing device includes an acoustic positioning beacon, and the preset distance is determined according to an effective signal receiving distance between the acoustic positioning beacon and an acoustic information receiving device carried by the ship.

[0042] According to an electronic device of an embodiment of the third aspect of the present application, the electronic device includes a processor and a memory storing a computer program, and when the processor executes the computer program, the power supply control method of the acoustic deepwater towing system described in any of the above embodiments is implemented.

[0043] According to the computer-readable storage medium of the fourth aspect of the present application, a computer program is stored thereon, and when the computer program is executed by a processor, the power supply control method of the acoustic deepwater towing system described in any of the above embodiments is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0045] Figure 1 A schematic diagram of the structure of an acoustic deepwater towing system according to some embodiments of the present application;

[0046] Figure 2 A first flow chart of a power supply control method for an acoustic deepwater towing system according to some embodiments of the present application;

[0047] Figure 3 A second flow chart of a power supply control method for an acoustic deepwater towing system according to some embodiments of the present application;

[0048] Figure 4 A third flow chart of a power supply control method for an acoustic deepwater towing system according to some embodiments of the present application;

[0049] Figure 5 A schematic diagram of geological evolution of some embodiments of the present application;

[0050] Figure 6 is a structural schematic diagram of a power supply control device for an acoustic deepwater towing system provided in an embodiment of the present application;

[0051] Figure 7 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0053] The power supply control method and device of the acoustic deepwater towing system provided in the embodiments of the present application will be introduced and explained in detail through several specific embodiments.

[0054] The acoustic deepwater towing system is a near-seabed, high-resolution deep-sea geological and geophysical integrated observation system towed at the stern of a ship. It includes a ship and an underwater electronic cabin, which is connected to the ship by a cable. When underwater signal collection is required, the sensor equipment on the underwater electronic cabin can be turned on, and the underwater electronic cabin can be put into the water as the towed body of the ship. Underwater signals are collected through the sensor equipment carried on the underwater electronic cabin and uploaded to the ship. For example, the acoustic positioning beacon on the underwater electronic cabin can be turned on, and the acoustic beacon signal can be received by the acoustic information receiving array carried on the ship to realize underwater positioning detection of the electronic cabin.

[0055] However, if the above method is used for underwater signal collection, when the sensor equipment on the underwater electronic cabin is turned on, the ship may cause signal interference to some of the sensor equipment, causing the underwater signal obtained in the initial stage of signal collection to be unreliable, but at this time it is difficult to effectively distinguish whether the collected signal is an unreliable signal in the initial stage of signal collection. For example, if the acoustic positioning beacon is too close to the acoustic information receiving array on the ship, it will cause acoustic signal interference or reduced sensitivity, resulting in interference in the acoustic signal received by the ship, affecting the positioning accuracy of the underwater electronic cabin, but at this time it is difficult to effectively distinguish whether the acoustic signal received by the ship is an acoustic signal with interference. Therefore, the use of the above method for underwater signal collection will affect the accuracy of underwater detection.

[0056] To this end, in one embodiment, a power supply control method for an acoustic deepwater towing system is provided. The acoustic deepwater towing system can be Figure 1 As shown, the system includes a ship 1 and an underwater electronic compartment 2, which are connected by cables, and the cables may include communication cables and power supply cables. The underwater electronic compartment 2 may be equipped with a plurality of sensor devices for data collection. The power supply control method of the acoustic deepwater towing system may be applied to a controller carried by a ship to control the acoustic deepwater towing system.

[0057] like Figure 2 As shown, the power supply control method of an acoustic deepwater towing system provided in this embodiment includes:

[0058] Step 101, in response to a prompt signal prompting the underwater electronic compartment to start entering the water, determining an initial position of the underwater electronic compartment according to the current position of the ship;

[0059] Step 102, determining the current position of the underwater electronic compartment according to the initial position of the underwater electronic compartment and the inertial navigation data uploaded by the inertial navigation device carried by the underwater electronic compartment;

[0060] Step 103, determining the current distance between the underwater electronic compartment and the ship according to the current position of the underwater electronic compartment and the current position of the ship, so as to power at least one sensor device carried by the underwater electronic compartment and turn on the sensor device when the current distance reaches a preset distance;

[0061] Wherein, the sensing device includes an acoustic positioning beacon, and the preset distance is determined according to an effective signal receiving distance between the acoustic positioning beacon and an acoustic information receiving device carried by the ship.

[0062] In some embodiments, the sensing device carried by the underwater electronic compartment includes an acoustic positioning beacon, and the underwater electronic compartment is also equipped with an inertial navigation device. The initial state of the acoustic positioning beacon is the off state, and the initial state of the inertial navigation device is the on state. When underwater detection is required, the user can put the underwater electronic compartment into the water as a towing body of the ship, and input a prompt signal to the controller to prompt the underwater electronic compartment to start entering the water. When receiving the prompt signal, the controller can respond to the prompt signal and determine the current position of the ship as the initial position of the underwater electronic compartment when it enters the water. Among them, the current position of the ship can be determined by the positioning signal of the positioning device carried by the ship, such as a GPS positioning device.

[0063] After the underwater electronic cabin is placed underwater, it begins to dive. At this time, the controller can obtain the inertial navigation data uploaded by the inertial navigation device carried by the underwater electronic cabin, such as the acceleration of the underwater electronic cabin underwater. According to the initial position of the underwater electronic cabin and the inertial navigation data uploaded by the inertial navigation device, the current position of the underwater electronic cabin can be determined through an integration algorithm.

[0064] After the current position of the underwater electronic compartment is determined by the inertial navigation device, the current distance between the underwater electronic compartment and the ship can be calculated according to the current position of the underwater electronic compartment and the current position of the ship. If the current position of the underwater electronic compartment and the current position of the ship are both expressed in longitude and latitude, the current distance between the underwater electronic compartment and the ship can be determined by calculating the longitude and latitude.

[0065] Considering that the sensing equipment carried by the underwater electronic cabin includes an acoustic positioning beacon, and the acoustic positioning beacon is used to send an acoustic signal to the acoustic information receiving device carried on the ship, if the distance between the acoustic positioning beacon and the acoustic information receiving device is too close, it will cause acoustic signal interference, resulting in low-frequency distortion, standing waves or phase cancellation of the acoustic signal received by the acoustic information receiving device. To this end, after obtaining the current distance between the underwater electronic cabin and the ship, the current distance can be compared with the preset distance. Among them, the preset distance is greater than or equal to the effective signal receiving distance between the acoustic positioning beacon and the acoustic information receiving device carried by the ship. Among them, the acoustic information receiving device can be an acoustic signal collector. The effective signal receiving distance can refer to the critical distance at which the acoustic information receiving device receives the signal sent by the acoustic positioning beacon without an interference signal, that is, when the distance between the acoustic positioning beacon and the acoustic information receiving device is less than the effective signal receiving distance, the signal received by the acoustic information receiving device is an interference signal with low-frequency distortion, standing waves or phase cancellation. The effective signal receiving distance can be determined in advance by testing.

[0066] If the current distance is less than the preset distance, it means that the diving depth of the underwater electronic cabin is not enough, and the signal received by the acoustic information receiving device from the acoustic positioning beacon will be interfered. At this time, the acoustic positioning beacon is kept in the closed state; if the current distance is greater than or equal to the preset distance, it means that the diving depth of the underwater electronic cabin is sufficient, and the signal received by the acoustic information receiving device from the acoustic positioning beacon will not be interfered. At this time, the power supply of the underwater electronic cabin or the ship can be controlled to power the acoustic positioning beacon to turn on the acoustic positioning beacon.

[0067] By responding to the prompt signal that the underwater electronic compartment begins to enter the water, the initial position of the underwater electronic compartment is determined according to the current position of the ship, the current position of the underwater electronic compartment is determined according to the initial position of the underwater electronic compartment and the inertial navigation data uploaded by the inertial navigation device carried by the underwater electronic compartment, and the current distance between the underwater electronic compartment and the ship is determined according to the current position of the underwater electronic compartment and the current position of the ship, so that when the current distance reaches the preset distance, the acoustic positioning beacon in the sensor device carried by the underwater electronic compartment is powered to turn on the acoustic positioning beacon. This can reduce the signal interference caused by the ship to some sensor devices in the early stage of signal collection, and there is no need to distinguish whether the collected signal is an unreliable signal in the early stage of signal collection, thereby improving the accuracy of underwater detection.

[0068] In some embodiments, the sensor equipment carried by the underwater electronic cabin may also include a Doppler log. The Doppler log performs measurement by emitting sound waves. By using the Doppler shift principle, the speed and direction of movement of the underwater electronic cabin can be directly obtained, and it can act as a bottom height meter and depth meter. Since the transmission distance of the Doppler log is limited, in order to reduce the ineffective power consumption during underwater detection, in some embodiments, such as Figure 3 As shown,

[0069] When the current distance reaches the preset distance, powering at least one sensor device carried by the underwater electronic cabin and turning on the sensor device includes:

[0070] Step 201, when the current distance reaches a preset distance, powering the acoustic positioning beacon carried by the underwater electronic cabin and turning on the acoustic positioning beacon;

[0071] Step 202, obtaining the current minimum distance between the underwater electronic cabin and the seabed surface according to the positioning information of the underwater electronic cabin determined by the acoustic positioning beacon and the preset positioning information of the seabed surface;

[0072] Step 203, determining that the current minimum distance is less than or equal to the target distance, powering the Doppler odometer, and turning on the Doppler odometer;

[0073] Wherein, the target distance is determined according to the maximum detection distance of the Doppler odometer.

[0074] In some embodiments, when it is determined through an inertial navigation device that the current distance between the underwater electronic compartment and the ship reaches a preset distance, the acoustic positioning beacon carried by the underwater electronic compartment is powered on and turned on, so as to more accurately locate the underwater electronic compartment through the acoustic signal sent by the acoustic positioning beacon, so as to determine the positioning information of the underwater electronic compartment. The positioning of the underwater electronic compartment through the acoustic signal sent by the acoustic positioning beacon can be performed by receiving the time line and time difference of the signal sent by the acoustic positioning beacon through an acoustic information receiving device carried by the ship, and determining the position angle and distance between the ship and the underwater electronic compartment, so as to determine the positioning information of the underwater electronic compartment based on the position angle, distance and the positioning information of the ship.

[0075] When the acoustic positioning beacon is turned on, the positioning of the underwater electronic compartment by the inertial navigation device can be stopped. Alternatively, the positioning information of the underwater electronic compartment determined by the acoustic positioning beacon can be verified by the inertial navigation device. If at a certain moment, the error between the positioning information of the underwater electronic compartment determined by the inertial navigation device and the positioning information of the underwater electronic compartment determined by the acoustic positioning beacon is less than a preset value, then it can be determined that the positioning information of the underwater electronic compartment determined by the acoustic positioning beacon is credible; otherwise, it can be determined that one of the acoustic positioning beacon or the inertial navigation device is abnormal, so as to generate a prompt message indicating that the acoustic positioning beacon or the inertial navigation device is abnormal.

[0076] When it is determined that the positioning information of the underwater electronic cabin determined by the acoustic positioning beacon is credible, the current minimum distance between the underwater electronic cabin and the seabed surface can be obtained based on the positioning information of the underwater electronic cabin and the preset positioning information of the seabed surface. The positioning information may include the longitude and latitude of the underwater electronic cabin and the underwater depth, and the preset positioning information of the seabed surface may be the approximate depth of the seabed surface area pre-recorded at the longitude and latitude, such as the depth of the seabed surface area at the longitude and latitude recorded in historical data. Based on the underwater depth of the underwater electronic cabin and the preset positioning information of the seabed surface, the current minimum distance between the underwater electronic cabin and the seabed surface can be calculated.

[0077] After obtaining the current minimum distance between the underwater electronic cabin and the seabed, the current minimum distance can be compared with the target distance, wherein the target distance can be less than or equal to the maximum detection distance of the Doppler speed meter carried by the underwater electronic cabin, and specifically, the target distance can be the maximum detection distance of the Doppler speed meter.

[0078] During the diving of the underwater electronic cabin, if the current minimum distance is greater than the target distance, it means that the Doppler speed meter will most likely not be able to detect the seabed surface when it is turned on, and the Doppler speed meter will be kept off. During the diving of the underwater electronic cabin, if the current minimum distance is less than or equal to the target distance, such as the current minimum distance is the target distance, it means that the Doppler speed meter will most likely be able to detect the seabed surface when it is turned on, and the power supply instruction will be triggered to control the power supply of the underwater electronic cabin or the ship to power the Doppler speed meter to turn on the Doppler speed meter. In this way, when the sound waves of the Doppler speed meter are most likely to detect the seabed surface, the Doppler speed meter will be powered on, thereby reducing the ineffective power consumption during underwater detection.

[0079] In some embodiments, the sensor equipment carried by the underwater electronic cabin generally also includes detection equipment for seabed detection, such as a multi-wave velocity detector and a shallow layer profiler, so as to obtain geological data of the seabed surface, such as a three-dimensional geological image of the seabed surface and preliminary geological stratification data below the seabed surface through the detection equipment. Considering that the detection equipment generally needs to be combined with the data collected by the Doppler log to determine the complete detection data of the seabed surface, during the diving of the underwater electronic cabin, it can be determined that the current minimum distance between the underwater electronic cabin and the seabed surface is less than or equal to the target distance. If the current minimum distance is the target distance, the power supply of the underwater electronic cabin or the ship is controlled to simultaneously power the Doppler log and the detection equipment to turn on the Doppler log and the detection equipment, thereby further reducing the ineffective power consumption during underwater detection.

[0080] In the process of underwater detection, in order to reduce the occurrence of equipment collision or bottoming caused by sudden changes in the seabed, in some embodiments, Figure 4 As shown, the method also includes:

[0081] Step 301, various geological data acquired by the detection device in the forward direction of the underwater electronic cabin are formed into a data queue according to the forward direction of the underwater electronic cabin, and input into a trained geological prediction model to obtain predicted geological data of the future seabed area located in the forward direction of the underwater electronic cabin;

[0082] Step 302, adjusting the moving speed of the ship, and the power supply of the Doppler log and the detection equipment according to the predicted geological data;

[0083] Wherein, the geological prediction model is obtained by training a plurality of sample queues, and the sample queues include a plurality of geological data samples arranged in sequence;

[0084] The seabed surface area is determined according to the current moving direction of the underwater electronic cabin and the current position of the underwater electronic cabin obtained by the acoustic positioning beacon;

[0085] The current moving direction of the underwater electronic cabin is determined by the Doppler log.

[0086] In some embodiments, the geological data acquired by the detection device may include a three-dimensional geological image of the seabed surface acquired by the multi-wave velocity detector during the detection process of the detection device, and preliminary geological stratification data below the seabed surface acquired by the shallow layer profiler. Due to the relevant principles of geological structure in geology, geological movement will leave corresponding traces in the strata, and strata of different compositions will have corresponding effects on the topographic structure when they move relative to each other, that is, the geological evolution of adjacent areas of the seabed surface will affect each other, such as Figure 5 Therefore, the evolution of the geological data of the seabed in a certain direction can be used to predict the geological data of the seabed in that direction.

[0087] Specifically, the geological data samples of multiple adjacent seabed areas collected in a certain direction can be arranged in the direction to form a sample queue. The geological data samples include a three-dimensional geological image of a certain area of ​​the seabed and preliminary geological stratification data of the area.

[0088] After obtaining multiple sample queues, each of the sample queues is sequentially input into the constructed geological prediction model for training. The geological prediction model may be a neural network model constructed by LSTM (Long Short-Term Memory) or a recurrent neural network. After obtaining the predicted geological data output by the geological prediction model for each training, the predicted geological data is compared with the actual geological data corresponding to the sample queue, and the loss function of the geological prediction model is calculated based on the comparison result between the predicted geological data and the actual geological data, and the network parameters of the geological prediction model are adjusted by back propagation until the predicted geological data output by the geological prediction model each time matches the actual geological data corresponding to the sample queue input into the geological prediction model this time, and the training of the geological prediction model is completed. The actual geological data corresponding to the sample queue is the actual geological data of the seabed surface area adjacent to the seabed surface area corresponding to the last geological data sample of the sample queue in the direction corresponding to the sample queue.

[0089] Alternatively, after obtaining multiple sample queues, the last geological data sample in any sample queue can be used as the target data corresponding to the sample queue, and then the target queue composed of all geological data samples in the sample queue except the target data is input into the geological prediction model for training. After each training, the predicted geological data output by the geological prediction model is obtained, the predicted geological data is compared with the target data corresponding to the target queue, and the loss function of the geological prediction model is calculated based on the comparison result between the predicted geological data and the target data, and the network parameters of the geological prediction model are adjusted through back propagation until the predicted geological data output by the geological prediction model each time matches the target data corresponding to the target queue input into the geological prediction model this time, thereby completing the training of the geological prediction model and obtaining a trained geological prediction model.

[0090] After obtaining the trained geological prediction model, the current moving direction of the underwater electronic cabin can be determined by the Doppler odometer, and then the next seabed area adjacent to the current seabed area where the underwater electronic cabin is located, which the underwater electronic cabin will pass through in the future, can be determined based on the current moving direction of the underwater electronic cabin and the current position of the underwater electronic cabin obtained by the acoustic positioning beacon, as the future seabed area. Then, the geological data of various places acquired by the detection equipment in the forward direction of the underwater electronic cabin are input into the trained geological prediction model according to the data queue formed by the forward direction of the underwater electronic cabin, so as to obtain the predicted geological data of the future seabed area located in the forward direction of the underwater electronic cabin.

[0091] After obtaining the predicted geological data, it can be judged whether there will be a sudden change in the bottom layer in the future seabed area based on the predicted geological data. If so, the moving speed of the ship is reduced, and the power supply of the Doppler log and the detection equipment is increased to improve the sensitivity of the Doppler log and the detection equipment, thereby improving the response speed of the Doppler log and the detection equipment, so as to detect the seabed surface more frequently and improve the safety of the underwater electronic cabin entering the future seabed area. In addition, the underwater electronic cabin can be pulled up by cables to reduce the underwater depth of the underwater electronic cabin.

[0092] For example, after obtaining the predicted geological data, it can be determined based on the predicted geological data whether the future seabed surface area will be higher than the seabed surface area where the underwater electronic cabin is currently located. If so, the ship's moving speed is reduced, and the power supply power of the Doppler speedometer and the detection equipment is increased, the sensitivity of the Doppler speedometer and the detection equipment is improved, and the underwater electronic cabin is pulled up by cables to reduce the underwater depth of the underwater electronic cabin.

[0093] In this way, the possibility of damage to the underwater electronic cabin due to collision or bottoming when the underwater electronic cabin enters the future seabed surface area can be reduced. At the same time, it can be judged more quickly whether the underwater electronic cabin has entered the future seabed surface area and the actual situation of the future seabed surface area, thereby improving the safety of underwater detection.

[0094] In some embodiments, when the underwater electronic cabin enters the future seabed surface area, it is also possible to detect whether the measured geological data of the future seabed surface area obtained through the detection data matches the predicted geological data; if so, it means that the geological prediction model can accurately predict the geological data, otherwise, the measured geological data is added to the data queue, and then the data queue is used as a new sample queue to train the geological prediction model again to continuously improve the geological prediction model and improve the accuracy of subsequent geological condition predictions.

[0095] In order to further reduce ineffective power supply to the sensor device and improve the credibility of the underwater signal sent by the sensor device, in some embodiments, the method further includes:

[0096] In response to an indication signal indicating the recovery of the underwater electronic compartment, the Doppler log is powered off, and when it is determined that the current distance between the underwater electronic compartment and the ship is a preset distance, the acoustic positioning beacon is powered off.

[0097] In some embodiments, when the controller receives an indication signal indicating the recovery of the underwater electronic compartment, the cable can be controlled to be recovered to recover the underwater electronic compartment, and the Doppler log can be stopped from being powered in response to the indication signal. At the same time, the detection equipment can also be stopped from being powered in response to the indication signal to reduce ineffective power consumption. In the process of recovering the underwater electronic compartment, the current distance between the underwater electronic compartment and the ship can be determined based on the acoustic signal sent by the acoustic positioning beacon, and it can be detected whether the current distance reaches the preset distance; if the current distance reaches the preset distance, it means that the acoustic signal sent by the subsequent acoustic positioning beacon may be interfered, and the acoustic positioning beacon is stopped from being powered, and the underwater electronic compartment is positioned by the inertial navigation device.

[0098] The power supply control device of the acoustic deepwater towing system provided in the present application is described below. The power supply control device of the acoustic deepwater towing system described below and the power supply control method of the acoustic deepwater towing system described above can refer to each other.

[0099] In one embodiment, if Figure 6 As shown, a power supply control device for an acoustic deepwater towing system is provided, wherein the acoustic deepwater towing system comprises a ship and an underwater electronic cabin, wherein the ship and the underwater electronic cabin are connected via a cable;

[0100] The device comprises:

[0101] An initial position determination module 210 is used to determine the initial position of the underwater electronic compartment according to the current position of the ship in response to a prompt signal prompting the underwater electronic compartment to start entering the water;

[0102] The current position determination module 220 is used to determine the current position of the underwater electronic compartment according to the initial position of the underwater electronic compartment and the inertial navigation data uploaded by the inertial navigation device carried by the underwater electronic compartment;

[0103] The towing system control module 230 is used to determine the current distance between the underwater electronic compartment and the ship according to the current position of the underwater electronic compartment and the current position of the ship, so as to power at least one sensor device carried by the underwater electronic compartment and turn on the sensor device when the current distance reaches a preset distance;

[0104] Wherein, the sensing device includes an acoustic positioning beacon, and the preset distance is determined according to an effective signal receiving distance between the acoustic positioning beacon and an acoustic information receiving device carried by the ship.

[0105] By responding to the prompt signal that the underwater electronic compartment begins to enter the water, the initial position of the underwater electronic compartment is determined according to the current position of the ship, the current position of the underwater electronic compartment is determined according to the initial position of the underwater electronic compartment and the inertial navigation data uploaded by the inertial navigation device carried by the underwater electronic compartment, and the current distance between the underwater electronic compartment and the ship is determined according to the current position of the underwater electronic compartment and the current position of the ship, so that when the current distance reaches the preset distance, the acoustic positioning beacon in the sensor device carried by the underwater electronic compartment is powered to turn on the acoustic positioning beacon. This can reduce the signal interference caused by the ship to some sensor devices in the early stage of signal collection, and there is no need to distinguish whether the collected signal is an unreliable signal in the early stage of signal collection, thereby improving the accuracy of underwater detection.

[0106] In one embodiment, the sensing device further comprises a Doppler odometer;

[0107] The towing system control module 230 is specifically used for:

[0108] When the current distance reaches a preset distance, powering the acoustic positioning beacon carried by the underwater electronic cabin and turning on the acoustic positioning beacon;

[0109] Obtaining the current minimum distance between the underwater electronic cabin and the seabed surface according to the positioning information of the underwater electronic cabin determined by the acoustic positioning beacon and the preset positioning information of the seabed surface;

[0110] Determining that the current minimum distance is less than or equal to the target distance, powering the Doppler speed meter, and turning on the Doppler speed meter;

[0111] Wherein, the target distance is determined according to the maximum detection distance of the Doppler odometer.

[0112] In one embodiment, the sensing device further comprises a detection device for performing seabed surface detection;

[0113] The towing system control module 230 is also used to:

[0114] Determine that the current minimum distance is less than or equal to the target distance, power the detection device, and turn on the detection device.

[0115] In one embodiment, the towing system control module 230 is further configured to:

[0116] The geological data of various places acquired by the detection equipment in the forward direction of the underwater electronic cabin are formed into a data queue according to the forward direction of the underwater electronic cabin, and input into the trained geological prediction model to obtain the predicted geological data of the future seabed area located in the forward direction of the underwater electronic cabin;

[0117] According to the predicted geological data, adjusting the moving speed of the ship, and the power supply of the Doppler log and the detection equipment;

[0118] Wherein, the geological prediction model is obtained by training a plurality of sample queues, and the sample queues include a plurality of geological data samples arranged in sequence;

[0119] The seabed surface area is determined according to the current moving direction of the underwater electronic cabin and the current position of the underwater electronic cabin obtained by the acoustic positioning beacon;

[0120] The current moving direction of the underwater electronic cabin is determined by the Doppler log.

[0121] In one embodiment, the towing system control module 230 is specifically configured to:

[0122] According to the predicted geological data, it is determined that the future seabed surface area is higher than the seabed surface area where the underwater electronic compartment is currently located, and the moving speed of the ship and the underwater depth of the underwater electronic compartment are adjusted.

[0123] In one embodiment, the towing system control module 230 is further configured to:

[0124] When the underwater electronic cabin enters the future seabed surface area, it is determined that the measured geological data of the future seabed surface area acquired by the detection equipment does not match the predicted geological data, and the measured geological data is added to the data queue to train the geological prediction model.

[0125] In one embodiment, the towing system control module 230 is further configured to:

[0126] In response to an indication signal indicating the recovery of the underwater electronic compartment, the Doppler log is powered off, and when it is determined that the current distance between the underwater electronic compartment and the ship is a preset distance, the acoustic positioning beacon is powered off.

[0127] Figure 7 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 7 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call a computer program in the memory 830 to execute a power supply control method for an acoustic deepwater towing system.

[0128] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0129] On the other hand, an embodiment of the present application further provides a storage medium, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the power supply control method of the acoustic deepwater towing system provided in the above embodiments.

[0130] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0131] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0132] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A power supply control method for an acoustic deepwater towing system, characterized in that: The acoustic deepwater towing system comprises a ship and an underwater electronic cabin, wherein the ship and the underwater electronic cabin are connected by a cable; The method comprises: In response to a prompt signal prompting the underwater electronic compartment to start entering water, determining an initial position of the underwater electronic compartment according to a current position of the ship; Determine the current position of the underwater electronic compartment according to the initial position of the underwater electronic compartment and the inertial navigation data uploaded by the inertial navigation device carried by the underwater electronic compartment; Determine the current distance between the underwater electronic compartment and the ship according to the current position of the underwater electronic compartment and the current position of the ship, so as to power at least one sensor device carried by the underwater electronic compartment and turn on the sensor device when the current distance reaches a preset distance; Wherein, the sensing device includes an acoustic positioning beacon, and the preset distance is determined according to an effective signal receiving distance between the acoustic positioning beacon and an acoustic information receiving device carried by the ship.

2. The power supply control method of the acoustic deepwater towing system according to claim 1, characterized in that: The sensing device also includes a Doppler odometer; When the current distance reaches the preset distance, powering at least one sensor device carried by the underwater electronic cabin and turning on the sensor device includes: When the current distance reaches a preset distance, powering the acoustic positioning beacon carried by the underwater electronic cabin and turning on the acoustic positioning beacon; According to the positioning information of the underwater electronic cabin determined by the acoustic positioning beacon and the preset positioning information of the seabed surface, the current minimum distance between the underwater electronic cabin and the seabed surface is obtained; When it is determined that the current minimum distance is less than or equal to the target distance, powering the Doppler odometer and turning on the Doppler odometer; Wherein, the target distance is determined according to the maximum detection distance of the Doppler odometer.

3. The power supply control method of the acoustic deepwater towing system according to claim 2, characterized in that: The sensing equipment also includes detection equipment for detecting the seabed surface; The method further comprises: When the current minimum distance is less than or equal to the target distance, the detection device is powered on and turned on.

4. The power supply control method of the acoustic deepwater towing system according to claim 3, characterized in that: The method further comprises: The geological data of various places acquired by the detection equipment in the forward direction of the underwater electronic cabin are formed into a data queue according to the forward direction of the underwater electronic cabin, and input into the trained geological prediction model to obtain the predicted geological data of the future seabed area located in the forward direction of the underwater electronic cabin; According to the predicted geological data, adjusting the moving speed of the ship, and the power supply of the Doppler log and the detection equipment; Wherein, the geological prediction model is obtained by training a plurality of sample queues, and the sample queues include a plurality of geological data samples arranged in sequence; The seabed surface area is determined according to the current moving direction of the underwater electronic cabin and the current position of the underwater electronic cabin obtained by the acoustic positioning beacon; The current moving direction of the underwater electronic cabin is determined by the Doppler log.

5. The power supply control method of the acoustic deepwater towing system according to claim 4, characterized in that: According to the predicted geological data, the moving speed of the ship and the power supply of the Doppler log and the detection equipment are adjusted, including: According to the predicted geological data, it is determined that the future seabed area is higher than the seabed area where the underwater electronic compartment is currently located, the moving speed of the ship is reduced, and the power supply of the Doppler odometer and the detection equipment is increased.

6. The power supply control method of the acoustic deepwater towing system according to claim 4, characterized in that: Also includes: When the underwater electronic cabin enters the future seabed surface area and the measured geological data of the future seabed surface area acquired by the detection equipment does not match the predicted geological data, the measured geological data is added to the data queue to train the geological prediction model.

7. The power supply control method of the acoustic deepwater towing system according to claim 2, characterized in that: Also includes: In response to an indication signal indicating the recovery of the underwater electronic compartment, the Doppler log is powered off, and when it is determined that the current distance between the underwater electronic compartment and the ship is a preset distance, the acoustic positioning beacon is powered off.

8. A power supply control device for an acoustic deepwater towing system, characterized in that: The acoustic deepwater towing system comprises a ship and an underwater electronic cabin, wherein the ship and the underwater electronic cabin are connected by a cable; The device comprises: An initial position determination module, configured to determine an initial position of the underwater electronic compartment according to a current position of the ship in response to a prompt signal prompting the underwater electronic compartment to start entering the water; A current position determination module, used to determine the current position of the underwater electronic compartment according to the initial position of the underwater electronic compartment and the inertial navigation data uploaded by the inertial navigation device carried by the underwater electronic compartment; a towing system control module, used to determine the current distance between the underwater electronic compartment and the ship according to the current position of the underwater electronic compartment and the current position of the ship, so as to power at least one sensor device carried by the underwater electronic compartment and turn on the sensor device when the current distance reaches a preset distance; Wherein, the sensing device includes an acoustic positioning beacon, and the preset distance is determined according to an effective signal receiving distance between the acoustic positioning beacon and an acoustic information receiving device carried by the ship.

9. An electronic device comprising a processor and a memory storing a computer program, characterized in that: When the processor executes the computer program, the power supply control method for the acoustic deepwater towing system according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the power supply control method of the acoustic deepwater towing system according to any one of claims 1 to 7 is implemented.

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