A multi-directional underwater target detection device

Abstract

A multi-directional underwater target detection device belongs to the technical field of underwater target detection and is designed to solve the problem of poor detection accuracy and stability of underwater detection devices. The multi-directional detection directional component of the invention comprises an inner shell arranged inside an outer shell, and also comprises dipole array elements located on both sides of the outer shell in the horizontal direction and phase compensation array elements located in front and behind the outer shell in the vertical direction. Multi-directional detection is achieved through array element layout and algorithm. A pair of dipole array elements and two phase compensation array elements are combined in the horizontal direction to achieve heart-shaped directivity, which can effectively pick up or transmit sound waves from the front, reduce rear and side interference signals, and enhance the detection capability of the front target. A plurality of acoustic sensors are arranged in the vertical direction to form an array and use beamforming technology to enhance the vertical target detection capability, achieve multi-directional accurate detection of underwater targets, and greatly enhance the adaptability to complex underwater environments.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater target detection, and in particular to a multi-directional underwater target detection device. Background Art

[0002] The marine environment is vast, complex and uncertain. Factors such as water flow velocity, water pressure, and temperature vary significantly in different areas and depths. At the same time, the type, size, and motion state of underwater targets also vary greatly. Many existing underwater detection devices can only achieve relatively effective detection in specific environments or for specific types of targets, and it is difficult to meet the needs of all-round, high-precision detection.

[0003] The detection accuracy and stability of some detection devices are greatly reduced when dealing with harsh environments such as low visibility, strong currents or complex terrain; the detection range of some devices is limited, and they cannot achieve rapid search and monitoring of large areas of water; and although other devices can detect targets, it is difficult to accurately obtain key information such as the target's position, speed and motion trajectory, resulting in difficulties in subsequent analysis and processing of the target. In practical applications, a single detection technology or method is often unable to adapt to various complex situations. For example, relying solely on acoustic detection may be interfered by factors such as ocean environmental noise and multipath effects, affecting the detection effect; and pure optical detection cannot work in turbid waters or low light conditions.

[0004] Therefore, there is an urgent need for an underwater target detection device that can integrate multiple advanced technologies and has high adaptability and flexibility, so as to achieve multi-directional, high-precision, stable and reliable detection of underwater targets, improve the efficiency and quality of underwater detection operations, and meet the ever-changing needs of ocean-related fields. Summary of the invention

[0005] The purpose of the present invention is to provide a multi-directional underwater target detection device to solve the problems in the background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a multi-directional detection device for underwater targets, comprising an outer shell and a multi-directional detection directional component arranged inside the outer shell, and a control system connected to and controlled by the multi-directional detection directional component, and also comprising a control system, the control system is connected to and controlled by the multi-directional detection directional component, and controls the multi-directional detection directional component to dynamically adjust the directivity, the multi-directional detection directional component realizes heart-shaped directivity in the horizontal direction and detection enhancement in the vertical direction, the multi-directional detection directional component comprises an inner shell arranged inside the outer shell, and also comprises dipole array elements located on both sides of the outer shell in the horizontal direction and phase compensation array elements located in front and behind the outer shell in the vertical direction, an electronic warehouse is also arranged inside the inner shell, the electronic warehouse is used to place internal circuits, an oil chamber is arranged between the outer shell and the inner shell, and the inside of the oil chamber is filled with mineral oil to improve the heat dissipation efficiency of the internal circuit; the array element layout and parameters of the multi-directional detection directional component realizing heart-shaped directivity in the horizontal direction are: a pair of dipole array elements and two phase compensation array elements are combined, and the distance between the two dipole array elements is , and the two dipole array elements have opposite polarities, forming a basic dipole array; the phase compensation array elements are respectively located in front of and behind the dipole array elements, and are used to further adjust the phase of the sound wave to achieve a more accurate cardioid directivity. The distance between the two dipole array elements is According to the maximum frequency Speed ​​of sound , The multi-directional detection directional component enhances detection in the vertical direction by setting up multiple acoustic sensors in the vertical direction to form an array, using beamforming technology to weight and sum the sensor acquisition signals to form a specific direction beam, thereby enhancing the vertical direction target detection capability and suppressing interference signals, thereby achieving multi-directional precise detection of underwater targets.

[0007] Furthermore, the steps of dynamically adjusting the directivity of the multi-directional detection directivity component are:

[0008] S1. Multi-parameter sensing and data acquisition: Pressure sensors, flow rate sensors and acoustic sensors are distributed on the shell to fix the sampling frequency Collect data to obtain the pressure of underwater environment Water flow rate and acoustic signals , water flow rate Including level and vertical Directional component; S2. Environmental feature modeling and analysis: water pressure depth calculation, water flow direction and intensity analysis, and acoustic environment feature extraction; S3. Target feature identification and prediction: target echo feature extraction and target motion parameter estimation; S4. Dynamic calculation of array element phase difference: calculation of sound wave propagation delay and phase difference; S5. Feedback control and implementation adjustment: generate signals through the electronic control unit according to the calculation results, and adjust the array element phase; S6: Adaptive learning and optimization: define performance evaluation indicators and update the learning algorithm.

[0009] Furthermore, the steps of modeling and analyzing the environmental characteristics in the dynamic adjustment of the directivity of the multi-directional detection directivity component are as follows: S21. Calculating the current depth according to the pressure sensor data ,in is the water density, is the acceleration due to gravity; S22. Calculate the direction of water flow using the flow sensor data and water flow intensity ; S23. Perform time-frequency analysis on the acoustic sensor acquisition signal and use short-time Fourier transform to obtain the spectrum diagram , extract the energy distribution of different frequency components and the rate of change of frequency over time , to analyze the characteristics of the underwater acoustic environment.

[0010] Furthermore, the target characteristic identification and prediction steps of the multi-directional detection directional component directivity dynamic adjustment are as follows: S31. Separating the target echo signal from the acoustic signal , extract echo intensity, , echo duration and echo frequency offset ; S32. According to Doppler frequency shift Estimated target radial velocity ,in is the speed of sound, S33. Combined with the multi-time target position information, the Kalman filter algorithm is used to predict the target motion trajectory and speed direction through the round-trip time of the sound wave and the device position estimation, and the target future position prediction is obtained. .

[0011] Furthermore, the steps of dynamically calculating the phase difference of the array elements in the dynamic adjustment of the directivity of the multi-directional detection directivity component are as follows: S41. Calculating the propagation delay of the sound wave from the device to the target and then back , is the device coordinate, is the target location, is the sound wave propagation path, is the velocity distribution of water flow on the path; S42. According to the principle of cardioid directivity, the phase difference of the array element is established Relationship model with target position, speed and environmental parameters, front phase compensation array element , rear phase compensation array element .

[0012] Furthermore, the feedback control and real-time adjustment steps in the dynamic adjustment of the directivity of the multi-directional detection directivity component are as follows: S51. The electronic control unit in the control system receives the sensor data processing results, the environmental model analysis data and the array element phase difference calculation value, and generates a control signal , through the proportional-integral-derivative controller Control the phase of the array element to adjust the phase shifter to change the phase of the array element in real time. is the expected and actual phase difference error, It is the coefficient of proportional-integral-differential controller; S52. Continuously monitor the changes of environment and target information, continuously update the phase difference calculation and control signal generation, to ensure that the cardioid directivity always tracks the target and adapts to environmental changes.

[0013] Furthermore, the adaptive learning and optimization in the dynamic adjustment of the directivity of the multi-directional detection directivity component defines a performance evaluation index, which is obtained by weighted calculation of the target detection accuracy and the target positioning error, and is optimized using the Q-learning algorithm in reinforcement learning. The optimal phase adjustment action is selected by iteratively updating the Q value function, and experience replay technology and regular updating of the target network are used to improve learning efficiency and stability.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The present invention provides a multi-directional underwater target detection device, which realizes multi-directional detection through array element layout and algorithm, adopts a pair of dipole array elements and two phase compensation array elements in combination in the horizontal direction to realize heart-shaped directivity, can effectively pick up or transmit sound waves from the front, reduce interference signals from the rear and sides, and enhance the detection capability of the front target, and arranges multiple acoustic sensors in the vertical direction to form an array and uses beamforming technology to enhance the vertical target detection capability, realizes multi-directional accurate detection of underwater targets, significantly expands the detection range, improves the detection accuracy, and obtains underwater environmental information in real time. Through a series of steps such as environmental feature modeling and analysis, target characteristic recognition and prediction, array element phase difference dynamic calculation, feedback control and real-time adjustment, and adaptive learning and optimization, the detection directivity can be dynamically adjusted according to different underwater environments and target characteristics, greatly enhancing the adaptability to complex underwater environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1It is a cross-sectional view of the overall structure of the present invention.

[0017] In the figure: 1. outer shell; 2. multi-directional detection directional component; 21. inner shell; 22. dipole array element; 23. phase compensation array element; 24. electronic compartment; 3. oil chamber. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] In order to solve the technical problems of poor detection accuracy and stability of existing underwater detection devices, as shown in the figure, the following preferred technical solutions are provided:

[0020] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a multi-directional underwater target detection device, comprising a housing 1 and a multi-directional detection directional component 2 arranged inside the housing 1, and a control system connected and controlled with the multi-directional detection directional component 2, and also comprising a control system, the control system is connected and controlled with the multi-directional detection directional component 2, controls the multi-directional detection directional component 2 to dynamically adjust the directivity, the multi-directional detection directional component 2 realizes a heart-shaped directivity in the horizontal direction and enhances detection in the vertical direction, and the multi-directional detection directional component 2 includes an inner housing 1 arranged inside the housing 1. The inner shell 21 also includes dipole array elements 22 located on both sides of the outer shell 1 in the horizontal direction and phase compensation array elements 23 located in front and behind the outer shell 1 in the vertical direction. An electronic compartment 24 is also arranged inside the inner shell 21. The electronic compartment 24 is used to place the internal circuit. An oil chamber 3 is arranged between the outer shell 1 and the inner shell 21. The oil chamber 3 is filled with mineral oil to improve the heat dissipation efficiency of the internal circuit. The array element layout and parameters of the multi-directional detection directivity component 2 to achieve cardioid directivity in the horizontal direction are: a pair of dipole array elements 22 and two phase compensation array elements 23 are combined, and the distance between the two dipole array elements 22 is , and the two dipole array elements 22 have opposite polarities, forming a basic dipole array; the phase compensation array elements 23 are respectively located in front of and behind the dipole array element 22, and are used to further adjust the phase of the sound wave to achieve more accurate cardioid directivity. The two dipole array elements 22 are spaced 1 / 40 mm apart. According to the maximum frequency Speed ​​of sound , The multi-directional detection directional component 2 enhances detection in the vertical direction by setting a plurality of acoustic sensors in the vertical direction to form an array, and using beamforming technology to weight and sum the sensor acquisition signals to form a beam in a specific direction, thereby enhancing the vertical target detection capability and suppressing interference signals, thereby achieving multi-directional precise detection of underwater targets.

[0021] The steps of the multi-directional detection directional component 2 for dynamic adjustment of the directional property are as follows: S1. Multi-parameter sensing and data collection: pressure sensors, flow rate sensors and acoustic sensors are distributed on the housing 1 to fix the sampling frequency. Collect data to obtain the pressure of underwater environment Water flow rate and acoustic signals , water flow rate Including level and vertical Directional component; S2. Environmental feature modeling and analysis: water pressure depth calculation, water flow direction and intensity analysis, and acoustic environment feature extraction; S3. Target feature identification and prediction: target echo feature extraction and target motion parameter estimation; S4. Dynamic calculation of array element phase difference: calculation of sound wave propagation delay and phase difference; S5. Feedback control and implementation adjustment: generate signals through the electronic control unit according to the calculation results, and adjust the array element phase; S6: Adaptive learning and optimization: define performance evaluation indicators and update the learning algorithm.

[0022] The steps of modeling and analyzing the environmental characteristics in the dynamic adjustment of the directivity of the multi-directional detection directivity component 2 are as follows: S21. Calculating the current depth according to the pressure sensor data ,in is the water density, is the acceleration due to gravity; S22. Calculate the direction of water flow using the flow sensor data and water flow intensity ; S23. Perform time-frequency analysis on the acoustic sensor acquisition signal and use short-time Fourier transform to obtain the spectrum diagram , extract the energy distribution of different frequency components and the rate of change of frequency over time , to analyze the characteristics of the underwater acoustic environment.

[0023] The target characteristic identification and prediction steps of the multi-directional detection directional component 2 for dynamic adjustment of directional characteristics are as follows: S31. Separating the target echo signal from the acoustic signal , extract echo intensity , echo duration and echo frequency offset ; S32. According to Doppler frequency shift Estimated target radial velocity ,in is the speed of sound, S33. Combined with the multi-time target position information, the Kalman filter algorithm is used to predict the target motion trajectory and speed direction through the round-trip time of the sound wave and the device position estimation, and the target future position prediction is obtained. .

[0024] The steps of dynamically calculating the phase difference of the array elements in the dynamic adjustment of the directivity of the multi-directional detection directivity component 2 are as follows: S41. Calculating the propagation delay of the sound wave from the device to the target and then back , is the device coordinate, is the target location, is the sound wave propagation path, is the velocity distribution of water flow on the path; S42. According to the principle of cardioid directivity, the phase difference of the array element is established Relationship model with target position, speed and environmental parameters, front phase compensation array element , rear phase compensation array element .

[0025] The feedback control and real-time adjustment steps in the dynamic adjustment of the directivity of the multi-directional detection directivity component 2 are as follows: S51. The electronic control unit in the control system receives the sensor data processing results, the environmental model analysis data and the array element phase difference calculation value, and generates a control signal , through the proportional-integral-derivative controller Control the phase of the array element to adjust the phase shifter to change the phase of the array element in real time. is the expected and actual phase difference error, It is the coefficient of proportional-integral-differential controller; S52. Continuously monitor the changes of environment and target information, continuously update the phase difference calculation and control signal generation, to ensure that the cardioid directivity always tracks the target and adapts to environmental changes.

[0026] The adaptive learning and optimization in the dynamic adjustment of the directivity of the multi-directional detection directivity component 2 is achieved by defining a performance evaluation index, which is obtained by weighted calculation of the target detection accuracy and the target positioning error, and is optimized by using the Q-learning algorithm in reinforcement learning. The optimal phase adjustment action is selected by iteratively updating the Q value function, and the experience replay technology and regular update of the target network are used to improve the learning efficiency and stability.

[0027] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0028] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A multi-directional underwater target detection device, comprising a housing (1), a multi-directional detection directional component (2) arranged inside the housing (1), and a control system connected to and controlled by the multi-directional detection directional component (2), characterized in that: The multi-directional detection directional component (2) is also provided with a control system, which is connected and controlled to control the multi-directional detection directional component (2) to dynamically adjust the directivity, so that the multi-directional detection directional component (2) realizes a heart-shaped directivity in the horizontal direction and detection enhancement in the vertical direction. The multi-directional detection directional component (2) comprises an inner shell (21) arranged inside the outer shell (1), and also comprises dipole array elements (22) located on both sides of the outer shell (1) in the horizontal direction and phase compensation array elements (23) located in front and behind the outer shell (1) in the vertical direction. The array element layout and parameters of the multi-directional detection directional component (2) to realize the heart-shaped directivity in the horizontal direction are: a pair of dipole array elements (22) and two phase compensation array elements (23) are combined, and the distance between the two dipole array elements (22) is , and the two dipole array elements (22) have opposite polarities, forming a basic dipole array; the phase compensation array elements (23) are respectively located in front of and behind the dipole array element (22), and are used to further adjust the phase of the sound wave to achieve more accurate heart-shaped pointing; the multi-directional detection directivity component (2) enhances detection in the vertical direction by: arranging a plurality of acoustic sensors in the vertical direction to form an array, using beamforming technology to weight and sum the sensor collection signals to form a specific direction beam, enhancing the vertical target detection capability and suppressing interference signals, thereby achieving multi-directional accurate detection of underwater targets; The steps of dynamically adjusting the directivity of the multi-directional detection directivity component (2) are as follows: S1. Multi-parameter perception and data collection: pressure sensors, flow rate sensors and acoustic sensors are distributed on the housing (1) to fix the sampling frequency. Collect data to obtain the pressure of underwater environment Water flow rate and acoustic signals , water flow rate Including level and vertical Directional component; S2. Environmental feature modeling and analysis: water pressure depth calculation, water flow direction and intensity analysis, and acoustic environment feature extraction; S3. Target feature identification and prediction: extract target echo features and estimate target motion parameters; S4. Dynamic calculation of array element phase difference: calculate sound wave propagation delay and phase difference; S5. Feedback control and implementation adjustment: generate signals through the electronic control unit according to the calculation results, and adjust the array element phase; S6: Adaptive learning and optimization: define performance evaluation indicators and update the learning algorithm; The steps of modeling and analyzing the environmental characteristics in the dynamic adjustment of the directivity of the multi-directional detection directivity component (2) are as follows: S21. Calculating the current depth according to the pressure sensor data ,in is the water density, is the acceleration due to gravity; S22. Calculate the direction of water flow using the flow sensor data and water flow intensity ; S23. Perform time-frequency analysis on the acoustic sensor acquisition signal and use short-time Fourier transform to obtain the spectrum diagram , extract the energy distribution of different frequency components and the rate of change of frequency over time , to analyze the characteristics of underwater acoustic environment; The target characteristic identification and prediction steps of the multi-directional detection directional component (2) for dynamic adjustment of directional characteristics are as follows: S31. Separating the target echo signal from the acoustic signal , extract echo intensity , echo duration and echo frequency offset ; S32. Based on Doppler shift Estimated target radial velocity ,in is the speed of sound, S33. Combined with the multi-time target position information, the Kalman filter algorithm is used to predict the target motion trajectory and speed direction through the round-trip time of the sound wave and the device position estimation, and the target future position prediction is obtained. and speed ; The steps of dynamically calculating the phase difference of the array elements in the dynamic adjustment of the directivity of the multi-directional detection directivity component (2) are as follows: S41. Calculating the propagation delay of the sound wave from the device to the target and then back , is the device coordinate, is the target location, is the sound wave propagation path, is the velocity distribution of water flow on the path; S42. According to the principle of cardioid directivity, the phase difference of the array element is established Relationship model with target position, speed and environmental parameters, front phase compensation array element , rear phase compensation array element .

2. The underwater target multi-directional detection device according to claim 1, characterized in that: The steps of feedback control and real-time adjustment in the dynamic adjustment of the directivity of the multi-directional detection directivity component (2) are as follows: S51. The electronic control unit in the control system receives the sensor data processing results, the environmental model analysis data and the array element phase difference calculation value, and generates a control signal , through the proportional-integral-derivative controller Control the phase of the array element to adjust the phase shifter to change the phase of the array element in real time. is the expected and actual phase difference error, It is the coefficient of proportional-integral-differential controller; S52. Continuously monitor the changes of environment and target information, continuously update the phase difference calculation and control signal generation, to ensure that the cardioid directivity always tracks the target and adapts to environmental changes.

3. The underwater target multi-directional detection device according to claim 1, characterized in that: The adaptive learning and optimization in the dynamic adjustment of the directivity of the multi-directional detection directivity component (2) is achieved by defining a performance evaluation index, which is obtained by weighted calculation of the target detection accuracy and the target positioning error, and is optimized by using the Q-learning algorithm in reinforcement learning. The optimal phase adjustment action is selected by iteratively updating the Q value function, and the experience replay technology and regular update of the target network are used to improve the learning efficiency and stability.

4. The underwater target multi-directional detection device according to claim 1, characterized in that: An electronic compartment (24) is also provided inside the inner shell (21), and the electronic compartment (24) is used to place an internal circuit.

5. The underwater target multi-directional detection device according to claim 1, characterized in that: An oil chamber (3) is provided between the outer shell (1) and the inner shell (21), and the interior of the oil chamber (3) is filled with mineral oil for improving the heat dissipation efficiency of the internal circuit.

6. The underwater target multi-directional detection device according to claim 1, characterized in that: The two dipole array elements (22) are spaced apart from each other. According to the maximum frequency Speed ​​of sound , .

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