Distributed sonar buoy monitoring system

Abstract

The invention discloses a distributed sonar buoy monitoring system. The system comprises a plurality of buoy monitoring nodes; the plurality of buoy monitoring nodes are deployed at different positions of a monitoring area in a distributed manner; each buoy monitoring node comprises an underwater sound data acquisition module, an underwater sound data transmission module, an underwater sound data processing module, a message transceiving module and an antenna transmission module; the underwater sound data acquisition module is used for acquiring underwater sound data in an area to be monitored and transmitting the underwater sound data to the underwater sound data processing module through the underwater sound data transmission module; the underwater sound data processing module comprises a processing unit; the processing unit is used for receiving and processing the underwater sound data and transmitting the processed underwater sound data to the message receiving and transmitting module; and the message receiving and transmitting module is used for receiving the processed underwater sound data and transmitting the processed underwater sound data to the shore-based terminal through the antenna transmission module, so that the shore-based terminal receives the processed underwater sound data. According to the invention, rapid acquisition and processing of underwater sound data in a large range are realized.

Description

Technical Field

[0001] The present invention relates to the field of ocean monitoring technology, and in particular to a distributed sonar buoy monitoring system. Background Art

[0002] Due to the serious attenuation of electromagnetic waves in water, the current rapid perception capability of marine environmental perception data such as marine events and marine targets is insufficient, as is the ability to obtain the time and location of corresponding marine events and marine targets. In recent years, the development of marine development activities has put forward urgent technical demands for marine information monitoring. Hydroacoustic detection technology can realize the detection of underwater acoustic targets. However, single-point observation is still mostly used in the field of hydroacoustic detection. Traditional centralized hydroacoustic data acquisition systems are mainly suitable for occasions with limited observation areas. They are mostly deployed using cables, and the connection is complex and difficult to lay. The use of multiple groups of signal cables with long transmission distances is prone to analog signal interference, affecting the real-time nature of marine data acquisition. For scenarios that require rapid response, centralized systems are difficult to meet the requirements. Summary of the invention

[0003] The embodiment of the present invention provides a distributed sonar buoy monitoring system, which can effectively solve the problem that the existing technology uses multiple groups of signal cables with long transmission distances, which easily causes analog signal interference and affects the real-time performance of ocean data collection. For scenarios that require rapid response, the centralized system is difficult to meet the requirements.

[0004] An embodiment of the present invention provides a distributed sonar buoy monitoring system, including: a plurality of buoy monitoring nodes; the plurality of buoy monitoring nodes are distributedly deployed at different locations in the monitoring area; each buoy monitoring node includes an underwater acoustic data acquisition module, an underwater acoustic data transmission module, an underwater acoustic data processing module, a message transceiver module and an antenna transmission module;

[0005] The hydroacoustic data acquisition module is used to collect hydroacoustic data in the monitored area and transmit the hydroacoustic data to the hydroacoustic data processing module through the hydroacoustic data transmission module;

[0006] The underwater acoustic data processing module includes a processing unit; the processing unit is used to receive and process the underwater acoustic data, and transmit the processed underwater acoustic data to the message transceiver module;

[0007] The message transceiver module is used to receive the processed hydroacoustic data and transmit the processed hydroacoustic data to the shore-based terminal through the antenna transmission module, so that the shore-based terminal receives the processed hydroacoustic data.

[0008] Furthermore, the hydroacoustic data processing module also includes a satellite timing unit; the satellite timing unit is used to receive the satellite signal transmitted by the antenna transmission module and perform time synchronization of each buoy monitoring node according to the satellite signal.

[0009] Furthermore, the satellite timing unit is used to synchronize the time of each buoy monitoring node according to the satellite signal, including:

[0010] Generate time pulse and time data serial port message according to satellite signal;

[0011] The time data serial port message is transmitted to the processing unit, so that the processing unit parses the time data serial port message and transmits the parsed time data serial port message to the satellite timing unit;

[0012] Time synchronization is performed based on the time pulse and the parsed time data serial port message.

[0013] Furthermore, the processing unit is used to receive and process the hydroacoustic data, including:

[0014] Classify and identify the received underwater sound data to obtain a biological sound data set;

[0015] For biological sound datasets, mark the exact location and duration of the sound in the biological sound dataset;

[0016] Biological classification and recognition are performed based on the labeled biological sound data set to obtain sound classification results.

[0017] Furthermore, the hydroacoustic data processing module also includes a storage unit; the storage unit is used to store the hydroacoustic data processed by the processing unit.

[0018] Furthermore, it also includes a power control module; the power control module is used to provide working power for the underwater acoustic data acquisition module, the underwater acoustic data processing module and the message transceiver module.

[0019] Furthermore, the underwater acoustic data transmission module includes a collection node connector;

[0020] The acquisition node connector includes two groups of interfaces, one interface is used to connect to the underwater acoustic data acquisition module, and the other interface is used to connect to the underwater acoustic data processing module.

[0021] By implementing the present invention, at least the following beneficial effects are achieved:

[0022] The present invention provides a distributed sonar buoy monitoring system, comprising a plurality of buoy monitoring nodes, which are distributedly deployed at different positions in a monitoring area. Each buoy monitoring node comprises a hydroacoustic data acquisition module, a hydroacoustic data transmission module, a hydroacoustic data processing module, a message transceiver module and an antenna transmission module, and has the functions of independently realizing the collection, processing and classification and identification of hydroacoustic data, and can realize rapid data collection and processing, thereby improving the overall monitoring efficiency. Through the collaborative work of multiple buoy monitoring nodes, a wider sea area can be covered, and the deployment is simple. No cable connection is required between the buoy monitoring nodes, and communication with other buoy monitoring nodes can be realized through the message transceiver module and the satellite receiving module. The plurality of buoy monitoring nodes are distributedly deployed at different positions in the monitoring area, so as to realize the synchronous collection and processing of hydroacoustic data in a large range. In the scenario where rapid response is required, each buoy monitoring node can also be quickly deployed to collect and process hydroacoustic data. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of a distributed sonar buoy monitoring system provided by one embodiment of the present invention;

[0024] Figure 2 is a schematic diagram of a system architecture provided by an embodiment of the present invention;

[0025] Figure 3 is a schematic cross-sectional view of a buoy sphere provided by an embodiment of the present invention;

[0026] Figure 4 It is a schematic diagram of the deployment orientation of buoy monitoring points provided by an embodiment of the present invention;

[0027] Figure 5 It is a schematic diagram of a processing plate inside a buoy provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0028] 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.

[0029] See also Figure 1 , is a structural diagram of a distributed sonar buoy monitoring system provided by an embodiment of the present invention, the system includes a plurality of buoy monitoring nodes; the plurality of buoy monitoring nodes are distributedly deployed at different locations in the monitoring area; each buoy monitoring node includes an acoustic data acquisition module, an acoustic data transmission module, an acoustic data processing module, a message transceiver module and an antenna transmission module;

[0030] The hydroacoustic data acquisition module is used to collect hydroacoustic data in the monitored area and transmit the hydroacoustic data to the hydroacoustic data processing module through the hydroacoustic data transmission module;

[0031] The underwater acoustic data processing module includes a processing unit; the processing unit is used to receive and process the underwater acoustic data, and transmit the processed underwater acoustic data to the message transceiver module;

[0032] The message transceiver module is used to receive the processed hydroacoustic data, and transmit the processed hydroacoustic data to the shore-based terminal through the antenna transmission module, so that the shore-based terminal receives the processed hydroacoustic data.

[0033] In a preferred embodiment of the present invention, a plurality of buoy monitoring nodes are distributedly deployed at different locations in the monitoring area. Generally, the deployment is based on a target positioning method based on the time difference of arrival of acoustic waves (TDOA). This method deploys a plurality of distributed buoy monitoring nodes to measure the time difference between the hydroacoustic signals from the target to different nodes, and then estimates the target position through multiple groups of time differences, such as Figure 4 As shown in the figure, it is a horizontal array deployment method. Only three buoy monitoring nodes are placed on the same horizontal plane to estimate the target distance, and the target position range identification can be completed. Each buoy monitoring node includes an acoustic data acquisition module, an acoustic data transmission module, an acoustic data processing module, a message transceiver module, and an antenna transmission module. The acoustic data acquisition module, the acoustic data transmission module, the acoustic data processing module, the message transceiver module, and the antenna transmission module are combined together, so that a buoy monitoring node can also complete the monitoring task independently without relying on the data transmission and data processing of other nodes. The deployment of distributed buoy monitoring nodes provides a wide range of regional coverage and improves the diversity of data collection; the distributed deployment ensures that even if individual nodes fail, other nodes can still continue to work, ensuring the continuity of monitoring activities and the integrity of data.

[0034] The hydroacoustic data acquisition module is used to collect the hydroacoustic data in the monitored area, and transmit the hydroacoustic data to the hydroacoustic data processing module through the hydroacoustic data transmission module. In a preferred embodiment of the present invention, the hydroacoustic data acquisition module completes the hydroacoustic data acquisition task through a hydrophone, and the hydrophone collects underwater audio data and converts it into a data packet. The hydrophone is integrated with a microprocessor, so that it can perform necessary processing on the original sensor information collected on site, such as signal amplification, conditioning, analog-to-digital conversion, etc., and finally convert it into a fixed standard digital format and transmit it through the existing standard communication protocol; the hydroacoustic data transmission module completes the data transmission task through a cable; the hydroacoustic data processing module and the message transceiver module are integrated in the offshore buoy to complete the analysis of the hydroacoustic data and transmit the analysis results to the shore-based terminal. Not only can the hydroacoustic data in the sea area be collected and processed in real time, but also the data can be transmitted to the shore-based terminal through advanced communication technology, thereby greatly enhancing the monitoring capability of the marine environment. Through the message transceiver module and the antenna transmission module, the processed hydroacoustic data can be sent to a long-distance shore-based terminal. This wireless transmission method greatly expands the operating range of the monitoring system, especially in remote or difficult-to-reach sea areas.

[0035] Specifically, the hydroacoustic data processing module also includes a satellite timing unit; the satellite timing unit is used to receive the satellite signal transmitted by the antenna transmission module and perform time synchronization of each buoy monitoring node according to the satellite signal.

[0036] In a preferred embodiment of the present invention, a satellite signal, such as a GNSS satellite signal, transmitted by an antenna transmission module is received by a satellite timing unit; and time synchronization of each buoy monitoring node is performed according to the satellite signal. In a distributed sonar buoy monitoring system, each buoy monitoring node may have a time deviation due to differences in geographical locations. If this time deviation is not corrected, it will lead to error accumulation during data analysis, affecting the accuracy of the results. Through the satellite timing unit, the time of all buoy monitoring nodes can be synchronized to the international standard time, thereby eliminating the impact of time deviation. Time synchronization not only improves the consistency of data, but also simplifies the subsequent data processing process. Due to the consistency of the data of each node in time, the design of data fusion and analysis algorithms can be more direct and effective, reducing the additional computing requirements introduced by time calibration. In addition, the long-term operation of the distributed sonar buoy monitoring system may cause the internal clock of the system to drift, resulting in deviations from the actual time. The satellite timing unit can regularly calibrate the system time to reduce the error accumulation caused by clock drift, which is particularly important for long-term continuous monitoring projects. For monitoring situations that require real-time response, the precise time synchronization provided by the satellite timing unit can ensure the correct processing of real-time data streams and timely information feedback, enhancing the responsiveness and practicality of the system.

[0037] Preferably, the satellite timing unit is used to synchronize the time of each buoy monitoring node according to the satellite signal, including:

[0038] Generate time pulse and time data serial port message according to satellite signal;

[0039] The time data serial port message is transmitted to the processing unit, so that the processing unit parses the time data serial port message and transmits the parsed time data serial port message to the satellite timing unit;

[0040] Time synchronization is performed based on the time pulse and the parsed time data serial port message.

[0041] In a preferred embodiment of the present invention, the satellite timing unit generates PPS (time pulse) and TOD serial port message (time data serial port message) according to the GNSS satellite signal, and transmits the time data serial port message to the processing unit through IO, so that the processing unit parses the time data serial port message, and then performs PPS capture and system time synchronization according to the time pulse and the parsed time data serial port message, performs PTP network protocol timing on the system time, and finally completes the timing hydrophone through the business network port.

[0042] Schematically, the processing unit is used to receive and process hydroacoustic data, including:

[0043] Classify and identify the received underwater sound data to obtain a biological sound data set;

[0044] For biological sound datasets, mark the exact location and duration of the sound in the biological sound dataset;

[0045] Biological classification and recognition are performed based on the labeled biological sound data set to obtain sound classification results.

[0046] In a preferred embodiment of the present invention, the processing unit obtains the hydroacoustic data through the service interface and completes the timing. The high-performance MCU RPi (Raspberry Pi) CM4 is based on an embedded Linux computer. First, the audio data frame containing biological sounds and background noise is obtained from the hydroacoustic data collected by the hydrophone array and classified and marked. According to the spectral characteristics, the background noise and biological sounds in the audio data frame are classified to obtain the biological and background sound data sets. Secondly, the energy detection algorithm is used to detect the biological sounds, and the artificial neural network algorithm (BP algorithm) is used to classify and identify the biological sounds to obtain the sound classification results. In addition, the processing unit also processes the marine environment data collected by the hydrophone, such as ocean temperature, water quality oxygen content, etc. By automatically classifying and marking the received hydroacoustic data, the system can quickly distinguish the biological sound data set, greatly reducing the workload and time cost of manual screening.

[0047] Specifically, the hydroacoustic data processing module further includes a storage unit; the storage unit is used to store the hydroacoustic data processed by the processing unit.

[0048] In a preferred embodiment of the present invention, after receiving the hydroacoustic data processed by the processing unit, it will be cached in the storage unit, and when a certain amount is reached, it will be written into the backup storage in chronological order. The storage backup is a dat format file and can be stored in an external solid-state memory. The storage unit can temporarily store the processed data to facilitate subsequent data analysis, which is particularly important when processing a large amount of real-time data, because real-time analysis requires fast data reading and writing capabilities.

[0049] Preferably, it also includes a power control module; the power control module is used to provide working power for the underwater acoustic data acquisition module, the underwater acoustic data processing module and the message transceiver module.

[0050] In a preferred embodiment of the present invention, the design of the power control module ensures continuous power supply to various key modules such as underwater acoustic data acquisition, processing and message transceiver modules, which is the basis for ensuring long-term stable operation of the system. In harsh environments such as the ocean, the power control module can adapt to changing external conditions, ensure the stability of power supply, and reduce system interruptions or failures caused by environmental changes; through sophisticated power management strategies, such as sleep mode and intelligent power consumption adjustment, the power control module can effectively extend the service life of the system and reduce maintenance costs.

[0051] Preferably, the underwater acoustic data transmission module comprises a collection node connector;

[0052] The acquisition node connector includes two groups of interfaces, one interface is used to connect to the underwater acoustic data acquisition module, and the other interface is used to connect to the underwater acoustic data processing module.

[0053] In a preferred embodiment of the present invention, the collection node connector includes two groups of interfaces, which are designed as 2 groups (4-wire network cable + 2-wire power supply) of the same connection mode inside the float. One group of interfaces is used to connect the underwater acoustic data collection module (hydrophone). The 2-wire power supply can be connected to the 24V power supply and the communication network cable can be connected to the network port of the processing unit inside the float to complete data reception, thereby realizing integrated power supply and communication of the hydrophone; the other group is used in the float to connect another network port and power supply interface of the underwater acoustic data processing module. When the float is sealed, external power supply and debugging are performed through this interface.

[0054] In an optional embodiment of the present invention, a single buoy monitoring node is divided into two parts: a floating ball at sea and a single underwater intelligent hydrophone, and the two parts realize power supply and communication through an underwater cable. A microprocessor is integrated inside the underwater intelligent hydrophone, so that it can perform necessary processing on the original sensor information collected on site, such as signal amplification, conditioning, analog-to-digital conversion, etc., and finally convert it into a fixed standard digital format, collect and obtain hydroacoustic data, and realize communication, synchronization, and power supply functions through a 6-core cable. The PTP (IEEE 1588) protocol is used to realize the transmission of hydroacoustic data and synchronization messages collected synchronously between hydrophones via Ethernet. The floating ball at sea includes four parts: a battery, a Beidou short message transceiver board, an antenna, and a processing unit bottom plate integrated with a satellite timing module. The Beidou short message transceiver board communicates with other nodes and shore bases through satellites, and the communication information is the monitored latitude and longitude coordinates, UTC time, the results of sound event classification, data packet sequence number and other custom information. The processing unit baseboard integrates synchronization components, storage units, power control and other peripherals. It is an independent component for data processing. Then the RS485 serial port line is led out to connect the communication component, and two network cables are led out to the shell for connecting with the underwater acquisition component and the debugging computer. The battery supplies the data processing component, communication component, and underwater acquisition component. The antenna is connected to the synchronization component and communication component of the processing unit baseboard. Figure 2 As shown, the GPS antenna communicates with the satellite timing unit (synchronization component) through radio frequency signals, and the GNSS antenna communicates with the Beidou short message transceiver board through radio frequency signals; the transmission of electrical signals is realized between the satellite timing unit and the processing unit, the storage unit and the processing unit, and the processing unit and the Beidou short message transceiver board; the power control module controls the processing unit in the underwater acoustic data processing module and is connected to the underwater hydrophone through the business network port to realize power control; at the same time, the processing unit is also connected to the debugging network port through a multi-core watertight connector and an RJ45 debugging network port and is connected to the business network port through a multi-core watertight connector and a business network port cable.

[0055] After the offshore buoy is synchronized with the clock by the synchronization component, the underwater hydrophone collects hydroacoustic data, and transmits the hydroacoustic data packet to the offshore buoy through the TCP / IP protocol via a 6-core watertight cable. The processing unit baseboard in the offshore buoy provides a Gigabit network port to support network communication and data packet parsing, and the storage backup is a dat format file to the built-in solid-state memory inside and outside the baseboard. When the processing unit completes the processing, the baseboard provides an RS485 peripheral interface to communicate with the communication component to complete the data transmission. The battery supplies power to the processing unit baseboard and the communication component respectively, and the two do not affect each other. The power supply of the processing unit baseboard supplies power to the baseboard as well as the hydrophone and the hydroacoustic data processing template.

[0056] In a preferred embodiment of the present invention, the diameter of the offshore floating ball is 560 mm. Figure 3As shown in the figure, there are 24 sealing fixing holes with a diameter of 6.2mm, and the battery compartment is 200mm×170mm in size. It is made of acrylonitrile butadiene styrene plastic (ABS), and the shell has good sealing and light weight. Acrylonitrile butadiene styrene plastic (ABS) is a thermoplastic engineering plastic with excellent mechanical properties and wear resistance. It not only has good impact toughness, but also has excellent chemical stability and can resist the erosion of salt and other chemicals in seawater. The 24 sealing fixing holes with a diameter of 6.2mm not only ensure the sealing during assembly, but also facilitate the layout and fixation of the internal electronic equipment. These small holes are precisely designed to effectively prevent water penetration and protect the internal components from seawater erosion. The ABS material itself has the characteristics of being lighter, which reduces the weight of the entire float, making it easier to obtain good floating performance on the water surface. The lightweight feature makes the float easier to deploy and recover, especially in a dynamically changing marine environment. The selection of ABS material not only considers its physical and chemical properties, but also pays special attention to its performance in extreme environments. Whether it is high or low temperature, ABS material can maintain its stable performance, which ensures that the float can operate normally under various climatic conditions. The battery compartment is designed with a size of 200mm×170mm, which provides ample space for the battery while taking into account the need for easy replacement and maintenance. The reasonable battery compartment design not only facilitates the installation and replacement of the battery, but also ensures the stable operation of the power system.

[0057] In a preferred embodiment of the present invention, three multi-core watertight connectors are designed to be added on both sides of the bottom of the float, one of which is a 4-core male connector, which is connected to the battery output interface and the embedded power input interface inside the float, and is matched with a four-hole female connector with two holes short-circuited and a normal female connector. The float system switch is controlled by plugging and replacing the plug. The main switch controls the battery power supply, and the 24V and 60Ah battery power supplies are respectively supplied to the Beidou short message module and the integrated hydroacoustic data processing module on the circuit board. The circuit board is designed with a power supply interface and a power switch for the hydrophone to control power consumption. The design of the multi-core watertight connector ensures the high waterproof performance of the connector, which is crucial for equipment in the marine environment. The watertight connector can effectively prevent water penetration and protect the internal circuit from seawater erosion, thereby extending the service life and stability of the equipment. By connecting the 4-core male connector to the battery output interface and the embedded power input interface inside the float, effective distribution and management of power supply are achieved. This integrated design simplifies the internal wiring and reduces the complexity and maintenance difficulty of the system. The 24V, 60Ah large-capacity battery can simultaneously power the Beidou short message module and the circuit board of the integrated hydroacoustic data processing module, ensuring that the system can operate stably for a long time without frequent charging or battery replacement, which is especially important in the ocean or in difficult-to-reach areas.

[0058] In a preferred embodiment of the present invention, the treatment plate in the offshore buoy is as follows Figure 5 As shown in the figure, the CM4 core board resources are the underwater acoustic data processing module that integrates IO, PCLe interface, PHY chip, USB, serial port and onboard crystal oscillator; the PCLe interface is connected to the storage interface, that is, the storage function of the storage unit is realized; the PHY chip is connected to Gigabit Ethernet; the USB is connected to 100M Ethernet; there are two modules at the bottom, namely the clock source module (i.e. satellite timing module) and the satellite receiving module (i.e. antenna transmission module), which are responsible for providing time synchronization and receiving satellite signals respectively.

[0059] The system structure in this embodiment is simple, and a single node is divided into two parts: a floating ball on the sea and a single underwater intelligent hydrophone. The two parts are powered and communicated through an underwater cable. The processing unit can integrate necessary algorithm processing according to actual needs, such as audio compression, frequency domain processing algorithms including Fourier transform, time-frequency domain processing algorithms such as Mel frequency cepstral coefficients MFCC, and deep learning algorithms including the following: Convolutional neural network (CNN): used for audio feature extraction and classification; Recurrent neural network (RNN): used to process time series information, suitable for audio sequence data; Variational autoencoder (VAE): used to generate new audio with certain musical characteristics. The difference between these algorithms is that the time domain processing algorithm mainly focuses on the change of the signal in time; the frequency domain processing algorithm converts the signal to the frequency domain to analyze the frequency component. This type of algorithm is faster, but some complex audio feature extraction cannot be completed; while the time-frequency domain processing algorithm combines time domain and frequency domain information to extract features, which is suitable for complex applications but slower. In addition, the deep learning algorithm uses a neural network structure for feature learning and task processing, and usually performs well on large-scale data, and can complete fast reasoning after effectively training complex audio features. In order to improve the real-time perception capability of the system, deep learning algorithms are preferred for artificial intelligence recognition applications.

[0060] By implementing this embodiment, the design goals of a distributed real-time monitoring system with rapid deployment, high reliability and strong versatility are met. The existing distributed system solution does not consider the scenario where the platform needs to be quickly deployed and applied. However, since the country has put forward urgent technical requirements for marine information detection in both military and civilian aspects, there is a lack of distributed detection system solutions with rapid deployment, high reliability and strong versatility. In the case of limited observation areas where cables are mostly used for deployment, data exchange is convenient, but the connection is complex, the deployment is difficult and it is easy to affect the environment. Moreover, the use of multiple groups of signal lines with long transmission distances is prone to analog signal interference, affecting the accuracy and real-time performance of data acquisition. This embodiment adopts a multi-node Internet of Things design idea, avoids the wired connection of a centralized data acquisition system, is simple to deploy, and is more suitable for multi-point synchronous observation of a large spatial scale. In scenarios where rapid response is required, it is difficult for centralized systems to meet the requirements. The distributed monitoring system of this embodiment can complete the synchronous acquisition and processing of a large range of underwater acoustic data. Underwater systems that work for a long time are easily affected by the environment (temperature, pressure), etc., and additional errors may occur from time to time. The excellent indicators of the cabled ocean observation network lie in its reliable data collection and precise clock synchronization functions, which are important guarantees for the long-term stable operation of the system. However, it has high application threshold requirements, high maintenance costs, high technical difficulties, and harsh application conditions. In this implementation, each node can be quickly deployed to complete the collection and processing of underwater acoustic data near the node.

[0061] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A distributed sonar buoy monitoring system, characterized in that: include: A plurality of buoy monitoring nodes; the plurality of buoy monitoring nodes are distributedly deployed at different locations in the monitoring area; each buoy monitoring node includes a hydroacoustic data acquisition module, a hydroacoustic data transmission module, a hydroacoustic data processing module, a message transceiver module and an antenna transmission module; The hydroacoustic data acquisition module is used to collect hydroacoustic data in the monitored area and transmit the hydroacoustic data to the hydroacoustic data processing module through the hydroacoustic data transmission module; The underwater acoustic data processing module includes a processing unit; the processing unit is used to receive and process the underwater acoustic data, and transmit the processed underwater acoustic data to the message transceiver module; The message transceiver module is used to receive the processed hydroacoustic data and transmit the processed hydroacoustic data to the shore-based terminal through the antenna transmission module, so that the shore-based terminal receives the processed hydroacoustic data.

2. A distributed sonar buoy monitoring system as claimed in claim 1, characterized in that: The hydroacoustic data processing module also includes a satellite timing unit; the satellite timing unit is used to receive satellite signals transmitted by the antenna transmission module and perform time synchronization of each buoy monitoring node according to the satellite signals.

3. A distributed sonar buoy monitoring system as claimed in claim 2, characterized in that: The satellite timing unit is used to synchronize the time of each buoy monitoring node according to the satellite signal, including: Generate time pulse and time data serial port message according to satellite signal; The time data serial port message is transmitted to the processing unit, so that the processing unit parses the time data serial port message and transmits the parsed time data serial port message to the satellite timing unit; Time synchronization is performed based on the time pulse and the parsed time data serial port message.

4. A distributed sonar buoy monitoring system as claimed in claim 1, characterized in that: The processing unit is used to receive and process the hydroacoustic data, including: Classify and identify the received underwater sound data to obtain a biological sound data set; For biological sound datasets, mark the exact location and duration of the sound in the biological sound dataset; Biological classification and recognition are performed based on the labeled biological sound data set to obtain sound classification results.

5. A distributed sonar buoy monitoring system as claimed in claim 1, characterized in that: The hydroacoustic data processing module further includes a storage unit; the storage unit is used to store the hydroacoustic data processed by the processing unit.

6. A distributed sonar buoy monitoring system as claimed in claim 1, characterized in that: It also includes a power control module; the power control module is used to provide working power for the underwater acoustic data acquisition module, the underwater acoustic data processing module and the message transceiver module.

7. A distributed sonar buoy monitoring system as claimed in claim 1, characterized in that: The underwater acoustic data transmission module includes a collection node connector; The acquisition node connector includes two groups of interfaces, one interface is used to connect to the underwater acoustic data acquisition module, and the other interface is used to connect to the underwater acoustic data processing module.

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