Underwater Unmanned Vehicle Jet Drop System, Installation Method, Speed ​​Measurement Method and Medium

Abstract

This invention provides an underwater unmanned vehicle (UAV) jettisoning system, installation method, speed measurement method, and medium, relating to the field of underwater UAV technology. The method includes: an acoustic transducer assembly, a watertight cable junction box, a watertight cable, a watertight communication cable, a transducer mounting bracket, a buoy antenna storage compartment, a jettisoning device, and a data acquisition system. In use, the acoustic transducer assembly, watertight cable junction box, watertight cable, transducer mounting bracket, and buoy antenna storage compartment are assembled into a testing device as described above and placed in a test pool. It is connected to the data acquisition system placed on a ground-based test platform via a watertight communication cable. This invention employs a non-contact acoustic method, resulting in more accurate measurements, simplifying the installation complexity of the testing equipment, significantly reducing the cost of the testing equipment, avoiding the complexity of traditional electromechanical measurement methods, and can be conducted in a conventional hydrostatic test pressure vessel, demonstrating strong adaptability to the measurement environment.

Description

Technical Field

[0001] This invention relates to the field of underwater unmanned vehicle technology, specifically to an underwater unmanned vehicle ballast jettisoning system, installation method, speed measurement method, and medium. Background Technology

[0002] Underwater unmanned vehicles (UAVs) have wide applications in marine environmental monitoring, underwater object search and rescue, and seabed topography surveying, enabling easier access to underwater areas that are otherwise difficult for personnel to reach. As an underwater transport platform, UAVs can carry functional payloads such as acoustic detection equipment and buoy antennas. The buoy antennas can be mounted on the back or side of the UAV. During underwater exploration, the UAV can transmit collected underwater information to the outside world in a timely manner by deploying the buoy antennas. If the UAV encounters distress and cannot surface autonomously, the buoy antennas can be deployed to promptly indicate the distress location, facilitating subsequent salvage operations. The deployment of the underwater buoy antennas depends on the UAV's speed; it can either rely on its own buoyancy to surface autonomously or be launched from the UAV using a launcher. When an underwater unmanned vehicle is traveling at a certain speed, the best way is to use a launcher to launch the buoy antenna away from the vehicle body. The launcher needs to have a certain launch speed so that the buoy antenna and other objects are launched away from the vehicle at a certain speed, so as to minimize the risk of the buoy antenna getting stuck or colliding with the tail fin of the vehicle due to surface hydrodynamic forces during the vehicle's travel.

[0003] The launch velocity of the buoy antenna leaving its storage tank needs to be measured through actual underwater launch experiments to verify the launch capability of the launch device. Existing methods for measuring launch velocity in water involve using an electromechanical device in a dedicated water tank. The launch device is watertightly connected to the tank. A guy wire is attached to the tail of the buoy antenna and passes through a rubber sealing ring outside the tank, connecting to a rotary encoder placed in the air. When the buoy antenna is launched, it rapidly moves the guy wire linearly. This linear motion is converted into circumferential rotation of the rotary encoder, and the launch velocity is obtained by measuring the displacement of the guy wire per unit time using the rotary encoder. Because an electromechanical measurement method is used, the seal at the point where the pull wire exits the water tank is a dynamic seal. During the test, the pull wire moves rapidly with the buoy antenna's launch. The pull wire is thin and moves quickly, which places high demands on the installation of the dynamic seal at the wire exit point. This seal must not leak, nor be too tight to affect the movement of the pull wire. The rapid movement of the pull wire easily causes frequent wear of the seal. Furthermore, due to the friction between the pull wire and the seal, the measurement accuracy is significantly affected when the launch speed is low. In addition, to simulate the effect of water pressure at different depths on the launch speed, it is necessary to conduct the test in a specially customized sealed pressurized water tank, which incurs significant equipment costs. Although general pressure vessels used for water pressure testing also have watertight cable passages, the direction of the holes is inconsistent with the direction of the pull wire, making them unsuitable for the pull wire's exit point. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an underwater unmanned vehicle ballast jettisoning system, installation method, speed measurement method, and medium.

[0005] According to the present invention, an underwater unmanned vehicle payload jettisoning system, installation method, speed measurement method, and medium are provided as follows:

[0006] In a first aspect, an underwater unmanned vehicle jettisoning system is provided, the system comprising: an acoustic transducer assembly, a watertight cable junction box, a watertight cable, a watertight communication cable, a transducer mounting bracket, a buoy antenna storage compartment, a jettisoning device, and a data acquisition system.

[0007] The acoustic transducer assembly is mounted on a transducer mounting bracket, which has a docking interface for connecting to the buoy antenna storage compartment. The buoy antenna storage compartment stores the buoy antenna, and its other end has an interface for connecting to the launching device. The watertight cable junction box is mounted on the buoy antenna storage compartment, and the acoustic transducer assembly is connected to the watertight cable junction box via the watertight cable. One end of the watertight communication cable is connected to the watertight cable junction box, and the other end is connected to the data acquisition system.

[0008] In use, the acoustic transducer group, watertight cable junction box, watertight cable, transducer mounting bracket, and buoy antenna storage compartment are assembled into a test device in the above manner and placed in the test water tank. The device is then connected to the data acquisition system placed on the ground test platform via a watertight communication cable.

[0009] Preferably, the acoustic transducer group consists of two groups, namely a first group of acoustic transducers and a second group of acoustic transducers.

[0010] Each group of transducers consists of one transmitting transducer and one receiving transducer. The first group of acoustic transducers includes a first group of acoustic transmitting transducers and a first group of acoustic receiving transducers. The second group of acoustic transducers includes a second group of acoustic transmitting transducers and a second group of acoustic receiving transducers. Each transducer is connected to a watertight cable, namely a first transmitting watertight cable, a first receiving watertight cable, a second transmitting watertight cable, and a second receiving watertight cable.

[0011] Preferably, the transducer mounting bracket is provided with four transducer mounting interfaces;

[0012] In each group of transducers, the first group of acoustic transmitting transducers and the first group of acoustic receiving transducers, and the second group of acoustic transmitting transducers and the second group of acoustic receiving transducers are respectively installed facing each other at the same height on the transducer mounting bracket. The second group of acoustic transducers is installed at a higher position than and close to the first group of acoustic transducers.

[0013] At the same time, ensure that the acoustic centers of the two opposing transducers are coaxial, and that the base surfaces of the two opposing transducers are spaced a certain distance apart, which is greater than the outer diameter of the acoustic buoy.

[0014] Preferably, the two sets of acoustic transducers are installed at different heights on the transducer mounting bracket, so that the acoustic center groups of the two sets of acoustic transducers form a fixed distance.

[0015] Preferably, the water level in the system test pool needs to be 1 meter above the nearest set of acoustic transducers.

[0016] Preferably, when the system needs to test the effect of water depth on the launch speed of the buoy antenna, the testing device is placed in a hydrostatic test pressure vessel, the water pressure in the hydrostatic test pressure vessel is used to simulate the water depth, and a watertight cable is led out from the hydrostatic test pressure vessel and connected to the data acquisition system placed on the ground test platform.

[0017] Preferably, the data acquisition system includes: a regulated power supply, a signal source, a data acquisition unit, and a computer, for acquiring the acoustic transducer signal at the moment the buoy antenna is deployed.

[0018] Secondly, a method for installing an underwater unmanned vehicle jettisoning system is provided, the method comprising:

[0019] Step S1: Install the first set of acoustic transducers, namely the first set of acoustic transmitting transducers and the first set of acoustic receiving transducers, facing each other at the same height position on the transducer mounting bracket, so that the geometric centers of the first set of acoustic transmitting transducers and the first set of acoustic receiving transducers are coaxially opposite each other.

[0020] Step S2: Install the second set of acoustic transducers, namely the second set of acoustic transmitting transducers and the second set of acoustic receiving transducers, facing each other at the same height on the transducer mounting bracket, so that the geometric centers of the second set of acoustic transmitting transducers and the second set of acoustic receiving transducers are coaxially opposite each other; the installation position of the second set of acoustic transducers is higher than and close to the first set of acoustic transducers.

[0021] Step S3: Install the watertight cable junction box outside the buoy antenna storage compartment; install the transducer mounting bracket on the interface of the buoy antenna storage compartment;

[0022] Step S4: Fix the watertight cables connecting the four acoustic transducers, namely the first transmitting watertight cable, the first receiving watertight cable, the second transmitting watertight cable, and the second receiving watertight cable, to any four interface holes on the watertight cable junction box.

[0023] Step S5: Fix the watertight communication cable to the fifth interface hole on the watertight cable junction box and connect it to the four watertight cables one by one.

[0024] Step S6: Connect the watertight communication cable to the data acquisition system. After powering on and verifying that everything is correct, install the launching device on the interface facing the buoy antenna storage compartment and the transducer mounting bracket.

[0025] Step S7: Place the buoy antenna into the buoy antenna storage compartment and put the test device into the water, so that the water level is 1 meter above the top of the second set of acoustic transducers to start the test.

[0026] Thirdly, a speed measurement method for an underwater unmanned vehicle ballast jettisoning system is provided, the method comprising:

[0027] Step S1: Use the first group of acoustic transducers and the second group of acoustic transducers together to form an energy line composed of sound waves between their acoustic base arrays.

[0028] Step S2: The launching device throws the buoy antenna out of the buoy antenna storage compartment. When the buoy antenna passes the first set of acoustic transducers, it blocks the sound wave transmission between the first set of transmitting transducers and receiving transducers. When the buoy antenna continues to move and passes the second set of acoustic transducers, it blocks the sound wave transmission between the second set of transmitting transducers and receiving transducers.

[0029] Step S3: The data acquisition system reads the time point when the sound wave is blocked, uses the difference between the two sets of time points when the sound wave is blocked as the motion time when calculating the motion speed, and uses the center distance between the two sets of acoustic transducers as the motion distance when calculating the motion speed, that is, obtains the launch velocity value at the moment the buoy antenna is launched.

[0030] Fourthly, a computer-readable storage medium storing a computer program is provided, which, when executed by a processor, implements the steps in the speed measurement method of the underwater unmanned vehicle jettisoning system.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. This invention employs an acoustic non-contact method, resulting in more accurate measurements. Existing electromechanical measurement methods using steel wire are affected by the dynamic seal friction of the steel wire and its weight. For lightweight objects with low launch velocities, such as underwater unmanned vehicle buoy antennas, the physical properties of the steel wire introduce additional external forces, affecting measurement accuracy.

[0033] 2. This invention simplifies the complexity of test equipment installation. Existing measurement methods use electromechanical wire drawing, where the seal at the point where the wire exits the sealed water tank is a dynamic seal. During testing, the wire moves rapidly with the buoy antenna, and the dynamic seal at the wire exit point requires high precision; it must not leak water nor be too tight to affect the wire's movement. Furthermore, the movement of the wire causes frequent wear on the seal at this point.

[0034] 3. This invention significantly reduces the cost of testing equipment. If it is necessary to test the effect of deep water on the launch velocity of a buoy antenna, the existing electromechanical measurement method using a steel wire requires the steel wire to be inserted into the hydrostatic testing vessel and to have a certain displacement along the insertion direction within the vessel before the test can be conducted. Such hydrostatic testing vessels require custom-made equipment. This invention avoids the complexity of traditional electromechanical measurement methods and can be performed in a conventional hydrostatic testing vessel.

[0035] 4. The present invention has strong adaptability to the measurement environment. Due to the simple composition and small scale of the measuring equipment, the measurement method of the present invention has no stringent requirements on the testing environment and can be carried out in any area with a certain water depth. Unlike electromechanical measurement methods using steel wire, it does not require laboratory testing. Existing underwater laser measurement technology is also a non-contact measurement and has the conditions to form light wave energy lines. However, when the testing equipment is in shallow water and under strong sunlight, the sensitivity of the optical sensor is easily affected by factors such as the angle of illumination, the intensity of the light source, the color of the measured object, and the refraction of light caused by flowing water when the buoy antenna is launched.

[0036] Other beneficial effects of the present invention will be explained in detail through the introduction of specific technical features and technical solutions in specific embodiments. Those skilled in the art should be able to understand the beneficial technical effects brought about by these technical features and technical solutions through the introduction of these technical features and technical solutions. Attached Figure Description

[0037] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0038] Figure 1 This is a schematic diagram of the connection status of the present invention during testing;

[0039] Figure 2 This is a schematic diagram of the device composition of the present invention;

[0040] Figure 3 This is a schematic diagram of the acoustic transducer of the present invention;

[0041] Figure 4 This is a schematic diagram illustrating the working principle of the present invention;

[0042] Figure 5 This is a real-world illustration of the sound wave blocking mechanism described in this invention.

[0043] Reference numerals: 101, First group of acoustic transmitting transducers; 102, First group of acoustic receiving transducers; 103, Second group of acoustic transmitting transducers; 104, Second group of acoustic receiving transducers; 101-a, First watertight transmitting cable; 102-a, First watertight receiving cable; 103-a, Second watertight transmitting cable; 104-a, Second watertight receiving cable; 200, Transducer mounting bracket; 300, Buoy antenna storage compartment; 400, Watertight cable junction box; 500, Watertight communication cable; 600, Data acquisition system; 700, Buoy antenna; 800, Launching device. Detailed Implementation

[0044] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0045] This invention provides an underwater unmanned vehicle ballast jettisoning system, referring to... Figure 1 and Figure 2 As shown, the system includes: an acoustic transducer assembly, a watertight cable junction box 400, a watertight cable, a watertight communication cable 500, a transducer mounting bracket 200, a buoy antenna storage compartment 300, a projectile device 800, and a data acquisition system 600.

[0046] An acoustic transducer assembly is mounted on a transducer mounting bracket 200, which has a docking interface with a buoy antenna storage compartment 300. The buoy antenna storage compartment 300 is used to store buoy antennas 700, and its other end has an interface for docking with a launching device 800. A watertight cable junction box 400 is mounted on the buoy antenna storage compartment 300, and the acoustic transducer assembly is connected to the watertight cable junction box 400 via the watertight cable. One end of a watertight communication cable 500 is connected to the watertight cable junction box 400, and the other end is connected to the data acquisition system 600.

[0047] In use, the acoustic transducer assembly, watertight cable junction box 400, watertight cable, transducer mounting bracket 200, and buoy antenna storage compartment 300 are assembled into a test device in the above manner and placed in the test water tank. The device is then connected to the data acquisition system 600 placed on the ground test platform via a watertight communication cable 500.

[0048] Reference Figure 3 As shown, specifically, there are two groups of acoustic transducers: a first group of acoustic transducers and a second group of acoustic transducers. Each group of transducers consists of one transmitting transducer and one receiving transducer. The first group of acoustic transducers includes a first group of acoustic transmitting transducers 101 and a first group of acoustic receiving transducers 102. The second group of acoustic transducers includes a second group of acoustic transmitting transducers 103 and a second group of acoustic receiving transducers 104. Each transducer is connected to a watertight cable, namely a first transmitting watertight cable 101-a, a first receiving watertight cable 102-a, a second transmitting watertight cable 103-a, and a second receiving watertight cable 104-a.

[0049] The transducer mounting bracket 200 is provided with four transducer mounting interfaces; in each group of transducers, the first group of acoustic transmitting transducers 101 and the first group of acoustic receiving transducers 102, and the second group of acoustic transmitting transducers 103 and the second group of acoustic receiving transducers 104 are respectively mounted facing each other on the transducer mounting bracket 200 at the same height, with the second group of acoustic transducers mounted higher than and close to the first group of acoustic transducers; at the same time, it is ensured that the acoustic centers of the two opposing transducers are coaxial, and the base arrays of the two opposing transducers are spaced apart by a certain distance, which is greater than the outer diameter of the acoustic buoy.

[0050] Two sets of acoustic transducers are installed at different heights on the transducer mounting bracket 200, ensuring a fixed spacing between the acoustic center groups of the two sets. The water level in the system test tank must be approximately 1 meter above the nearest set of acoustic transducers.

[0051] When the system needs to test the effect of water depth on the launch velocity of the buoy antenna 700, the testing device is placed in a hydrostatic testing vessel to simulate water depth using the water pressure in the vessel. A watertight cable is then led out from the hydrostatic testing vessel and connected to the data acquisition system 600 placed on a ground-based test platform. The data acquisition system 600 includes a regulated power supply, a signal source, a data acquisition unit, and a computer, and collects the acoustic transducer signal at the moment the buoy antenna 700 is deployed.

[0052] The present invention also provides a method for installing an underwater unmanned vehicle jettisoning system, the method comprising:

[0053] Step S1: Install the first set of acoustic transducers, namely the first set of acoustic transmitting transducers 101 and the first set of acoustic receiving transducers 102, facing each other at the same height position on the transducer mounting bracket 200, so that the geometric centers of the first set of acoustic transmitting transducers 101 and the first set of acoustic receiving transducers 102 are coaxially opposite each other.

[0054] Step S2: The second set of acoustic transducers, namely the second set of acoustic emitting transducers 103 and the second set of acoustic receiving transducers 104, are installed facing each other at the same height on the transducer mounting bracket 200, so that the geometric centers of the second set of acoustic emitting transducers 103 and the second set of acoustic receiving transducers 104 are coaxially opposite each other; the installation position of the second set of acoustic transducers is higher than and close to the first set of acoustic transducers.

[0055] Step S3: Install the watertight cable junction box 400 outside the buoy antenna storage compartment 300; install the transducer mounting bracket 200 on the interface of the buoy antenna storage compartment 300;

[0056] Step S4: Fix the watertight cables connecting the four acoustic transducers, namely the first transmitting watertight cable 101-a, the first receiving watertight cable 102-a, the second transmitting watertight cable 103-a, and the second receiving watertight cable 104-a, to any four interface holes on the watertight cable junction box 400.

[0057] Step S5: Fix the watertight communication cable 500 to the fifth interface hole on the watertight cable junction box 400, and connect it to the four watertight cables one by one.

[0058] Step S6: Connect the watertight communication cable 500 to the data acquisition system 600. After powering on and verifying that there are no errors, install the projectile device 800 on the interface facing the buoy antenna storage compartment 300 and the transducer mounting bracket 200.

[0059] Step S7: Place the buoy antenna 700 into the buoy antenna storage compartment 300, and put the test device into the water, so that the water level is 1 meter above the top of the second set of acoustic transducers to start the test.

[0060] This invention also provides a speed measurement method for an underwater unmanned vehicle ballast jettisoning system, referring to... Figure 4 and Figure 5 The method includes:

[0061] Step S1: Use the first group of acoustic transducers and the second group of acoustic transducers together to form an energy line composed of sound waves between their acoustic base arrays.

[0062] Step S2: The launching device 800 throws the buoy antenna 700 out of the buoy antenna storage compartment 300. When the buoy antenna 700 passes the first set of acoustic transducers, it blocks the sound wave transmission between the first set of transmitting transducers and receiving transducers. When the buoy antenna 700 continues to move and passes the second set of acoustic transducers, it blocks the sound wave transmission between the second set of transmitting transducers and receiving transducers.

[0063] Step S3: The data acquisition system 600 reads the time point when the sound wave is blocked, uses the difference between the two sets of time points when the sound wave is blocked as the motion time when calculating the motion speed, and uses the center distance between the two sets of acoustic transducers as the motion distance when calculating the motion speed, that is, obtains the launch velocity value of the buoy antenna 700 at the moment of launch.

[0064] The present invention will now be described in more detail.

[0065] The present invention provides an underwater unmanned vehicle jettisoning system, which includes: an acoustic transducer assembly, a watertight cable junction box 400, a watertight cable, a watertight communication cable 500, a transducer mounting bracket 200, a buoy antenna storage compartment 300, a jettisoning device 800, and a data acquisition system 600.

[0066] In use, the acoustic transducer, watertight cable junction box, watertight cable, transducer mounting bracket, and buoy antenna storage compartment are assembled together and placed in the test pool, and connected to the data acquisition system placed on the ground test platform through a watertight communication cable.

[0067] The water level in the test pool should be approximately 1 meter above the nearest set of acoustic transducers. If it is necessary to test the effect of water depth on the launch velocity of the buoy antenna, the above device can be placed in a standard hydrostatic test vessel, using the water pressure in the vessel to simulate water depth, and a watertight cable can be led out from the hydrostatic test vessel and connected to a data acquisition system placed on a ground test platform.

[0068] There are two groups of four acoustic transducers. Each group consists of one transmitting transducer and one receiving transducer. Each transducer should have the characteristics of high frequency, small acoustic opening angle, and high water pressure resistance, and each transducer is equipped with a watertight cable.

[0069] The transducer mounting bracket has four transducer mounting interfaces and one docking interface for the buoy antenna storage compartment. In each group of transducers, the transmitting and receiving transducers are mounted opposite each other at the same height on the mounting bracket, ensuring that the acoustic centers of the two transducers are coaxial and that the base arrays of the two transducers are spaced a certain distance, greater than the outer diameter of the acoustic buoy. The two groups of acoustic transducers are mounted at different heights on the mounting bracket, so that the acoustic centers of the two groups of acoustic transducers form a fixed spacing.

[0070] The buoy antenna storage compartment is used to store buoy antennas. One end of the buoy antenna storage compartment has an interface for docking with the transducer mounting bracket, and the other end has an interface for docking with the launching device.

[0071] The watertight cable junction box connects the four watertight cables that come with the transducers with one watertight communication cable inside the box, reducing the number of cables that need to be routed out from the test equipment. The watertight cable junction box has no fewer than five wiring holes.

[0072] The data acquisition system consists of a general-purpose regulated power supply, a signal source, a data acquisition unit, and a computer, and is used to acquire the acoustic transducer signal at the moment the buoy antenna is deployed.

[0073] The first set of acoustic transmitting transducers 101 and the first set of acoustic receiving transducers 102 are mounted at the same height at the lower end of the transducer mounting bracket 200 by screws, so that the geometric centers of the first set of acoustic transmitting transducers 101 and the first set of acoustic receiving transducers 102 are coaxially opposite each other.

[0074] The second set of acoustic transmitting transducers 103 and the second set of acoustic receiving transducers 104 are mounted at the same height on the transducer mounting bracket 200 using screws, so that the geometric centers of the second set of acoustic transmitting transducers 103 and the second set of acoustic receiving transducers 104 are coaxially opposite each other. The second set of acoustic transducers is mounted higher than and close to the first set of acoustic transducers.

[0075] The watertight cable junction box 400 is installed on the outside of the buoy antenna storage compartment 300 using screws. The transducer mounting bracket 200 is installed on the flange interface of the buoy antenna storage compartment 300 using screws.

[0076] The four acoustic transducers' built-in watertight cables 101-a, 102-a, 103-a, and 104-a are fixed to any four interface holes on the watertight cable junction box 400 using screws.

[0077] Secure the watertight communication cable 500 to the fifth interface hole on the watertight cable junction box 400 using screws. Then, connect it one by one with the watertight cables 101-a, 102-a, 103-a, and 104-a that come with the four acoustic transducers.

[0078] Connect the watertight communication cable 500 to the data acquisition system 600. After powering on and verifying that everything is working correctly, install the projectile device 800 onto the flange interface between the buoy antenna storage compartment 300 and the transducer mounting bracket 200 using screws. Place the buoy antenna 700 into the buoy antenna storage compartment 300, and submerge all other devices except the data acquisition system 600 in water until the water level is approximately 1 meter above the top of the second set of acoustic transducers. Testing can then begin.

[0079] The working principle of underwater acoustic velocimetry: The velocity of an object can be calculated by obtaining two values: the distance traveled and the time taken. Since acoustic transducers can transmit or receive sound waves, when transmitting and receiving transducers are used in pairs, an energy line composed of sound waves is formed between their acoustic base surfaces. When the launcher throws the buoy antenna from its storage compartment, the buoy antenna, upon passing the first set of acoustic transducers, will block the sound wave transmission between the first set of transmitting and receiving transducers. When the buoy antenna continues to move and passes the second set of acoustic transducers, it will block the sound wave transmission between the second set of transmitting and receiving transducers. The time points at which the sound waves are blocked can be clearly read on the data acquisition system. The difference between the time points at which the sound waves are blocked in the two sets is used as the time taken for velocity calculation, and the distance between the acoustic centers of the two sets of acoustic transducers is used as the distance taken for velocity calculation. Thus, the launch velocity value of the buoy antenna at the moment of launch can be obtained.

[0080] This invention provides an underwater unmanned vehicle (UAV) ballast jettisoning system, installation method, velocity measurement method, and medium. It employs an acoustic non-contact method, resulting in more accurate measurements; simplifies the complexity of test equipment installation; significantly reduces test equipment costs; avoids the complexity of traditional electromechanical measurement methods; and can be conducted in a conventional hydraulic pressure vessel. It exhibits strong environmental adaptability; due to the simple composition and small size of the measuring equipment, this invention has no stringent environmental requirements and can be conducted in any area with a certain water depth. Unlike electromechanical methods using steel wire, it does not require laboratory testing. Underwater laser measurement is also a non-contact method and possesses the conditions for forming light wave energy lines.

[0081] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0082] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A ballast jettisoning system for an underwater unmanned vehicle, characterized in that, include: Acoustic transducer assembly, watertight cable junction box (400), watertight cable, watertight communication cable (500), transducer mounting bracket (200), buoy antenna storage compartment (300), launch device (800) and data acquisition system (600). The acoustic transducer assembly is mounted on a transducer mounting bracket (200). The transducer mounting bracket (200) is provided with a docking interface for a buoy antenna storage compartment (300). The buoy antenna storage compartment (300) is used to store buoy antennas (700). The other end of the buoy antenna storage compartment (300) is provided with an interface for docking with a launching device (800). The watertight cable junction box (400) is installed on the buoy antenna storage compartment (300), and the acoustic transducer group is connected to the watertight cable junction box (400) through the watertight cable; one end of the watertight communication cable (500) is connected to the watertight cable junction box (400), and the other end is connected to the data acquisition system (600). In use, the acoustic transducer group, watertight cable junction box (400), watertight cable, transducer mounting bracket (200), and buoy antenna storage compartment (300) are assembled into a test device in the above manner and placed in the test water tank, and connected to the data acquisition system (600) placed on the ground test platform through a watertight communication cable (500). The acoustic transducer group consists of two groups, namely the first group of acoustic transducers and the second group of acoustic transducers. In each group of transducers, the first group of acoustic transmitting transducers (101) and the first group of acoustic receiving transducers (102), and the second group of acoustic transmitting transducers (103) and the second group of acoustic receiving transducers (104) are respectively installed at the same height on the transducer mounting bracket (200), with the second group of acoustic transducers installed at a higher position than and close to the first group of acoustic transducers; At the same time, ensure that the acoustic centers of the two opposing transducers are coaxial and that the base surfaces of the two opposing transducers are spaced a certain distance apart.

2. The underwater unmanned vehicle ballast jettisoning system according to claim 1, characterized in that, Each group of transducers consists of one transmitting transducer and one receiving transducer. The first group of acoustic transducers includes a first group of acoustic transmitting transducers (101) and a first group of acoustic receiving transducers (102). The second group of acoustic transducers includes a second group of acoustic transmitting transducers (103) and a second group of acoustic receiving transducers (104). Each transducer is connected to a watertight cable, namely a first transmitting watertight cable (101-a), a first receiving watertight cable (102-a), a second transmitting watertight cable (103-a), and a second receiving watertight cable (104-a).

3. The underwater unmanned vehicle ballast jettisoning system according to claim 2, characterized in that, The transducer mounting bracket (200) is provided with four transducer mounting interfaces; The distance between the two opposing transducer arrays is greater than the outer diameter of the acoustic buoy.

4. The underwater unmanned vehicle ballast jettisoning system according to claim 3, characterized in that, The two sets of acoustic transducers are installed at different heights on the transducer mounting bracket (200), so that the acoustic center groups of the two sets of acoustic transducers form a fixed distance.

5. The underwater unmanned vehicle ballast jettisoning system according to claim 1, characterized in that, The water level in the system test pool must be 1 meter above the nearest acoustic transducer group.

6. The underwater unmanned vehicle ballast jettisoning system according to claim 1, characterized in that, When the system needs to test the effect of water depth on the launch speed of the buoy antenna (700), the test device is placed in a water pressure test vessel, the water pressure in the water pressure test vessel is used to simulate the water depth, and a watertight cable is led out from the water pressure test vessel and connected to the data acquisition system (600) placed on the ground test platform.

7. The underwater unmanned vehicle ballast jettisoning system according to claim 1, characterized in that, The data acquisition system (600) includes: a regulated power supply, a signal source, a data acquisition unit and a computer, which acquires the acoustic transducer signal at the moment the buoy antenna (700) is deployed.

8. A method for installing an underwater unmanned vehicle (UAV) ballast jettisoning system, based on the underwater UAV ballast jettisoning system according to any one of claims 1-7, characterized in that, include: Step S1: The first set of acoustic transducers, namely the first set of acoustic transmitting transducers (101) and the first set of acoustic receiving transducers (102), are installed facing each other at the same height position on the transducer mounting bracket (200), so that the geometric centers of the first set of acoustic transmitting transducers (101) and the first set of acoustic receiving transducers (102) are coaxially opposite each other. Step S2: The second group of acoustic transducers, namely the second group of acoustic transmitting transducers (103) and the second group of acoustic receiving transducers (104), are installed facing each other at the same height on the transducer mounting bracket (200), so that the geometric centers of the second group of acoustic transmitting transducers (103) and the second group of acoustic receiving transducers (104) are coaxially opposite each other; the installation position of the second group of acoustic transducers is higher than and close to the first group of acoustic transducers; Step S3: Install the watertight cable junction box (400) outside the buoy antenna storage compartment (300); install the transducer mounting bracket (200) on the interface of the buoy antenna storage compartment (300); Step S4: Fix the watertight cables connecting the four acoustic transducers, namely the first transmitting watertight cable (101-a), the first receiving watertight cable (102-a), the second transmitting watertight cable (103-a), and the second receiving watertight cable (104-a), to any four interface holes on the watertight cable junction box (400); Step S5: Fix the watertight communication cable (500) to the fifth interface hole on the watertight cable junction box (400) and connect it to the four watertight cables one by one; Step S6: Connect the watertight communication cable (500) to the data acquisition system (600). After powering on and verifying that there are no errors, install the projectile device (800) on the interface between the buoy antenna storage compartment (300) and the transducer mounting bracket (200). Step S7: Place the buoy antenna (700) into the buoy antenna storage compartment (300) and put the test device into the water, so that the water surface is 1 meter above the top of the second set of acoustic transducers to start the test.

9. A speed measurement method for an underwater unmanned vehicle (UAV) ballast jettisoning system, based on the installation method of the underwater UAV ballast jettisoning system according to any one of claims 1-7, characterized in that, include: Step S1: Use the first group of acoustic transducers and the second group of acoustic transducers together to form an energy line composed of sound waves between their acoustic base arrays. Step S2: The launching device (800) throws the buoy antenna (700) out of the buoy antenna storage compartment (300). When the buoy antenna (700) passes the first set of acoustic transducers, it blocks the sound wave transmission between the first set of transmitting transducers and receiving transducers. When the buoy antenna (700) continues to move and passes the second set of acoustic transducers, it blocks the sound wave transmission between the second set of transmitting transducers and receiving transducers. Step S3: The data acquisition system (600) reads the time point when the sound wave is blocked, takes the difference between the two sets of time points when the sound wave is blocked as the motion time when calculating the motion speed, and takes the center distance between the two sets of acoustic transducers as the motion distance when calculating the motion speed, that is, obtains the launch speed value of the buoy antenna (700) at the moment of launch.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the speed measurement method of the underwater unmanned vehicle jettisoning system as described in claim 9.

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