Measurement and communication device based on underwater acoustic tomography unit

Abstract

The invention discloses a measurement and communication device based on an underwater acoustic tomography unit, and belongs to the technical field of ocean monitoring, the device comprises at least two box bodies arranged at the periphery of a sea area, each box body is externally and movably connected with a floating body, the end part of each box body is rotatably connected with a rotating part, the rotating part is provided with an underwater acoustic transduction part and a positioner, and the underwater acoustic transduction part is provided with a positioning device. The underwater sound transduction piece can be kept below the water surface by means of gravity, the rotating axis of the rotating piece extends transversely, the virtual connecting straight line of the underwater sound transduction piece and the positioner intersects with and is perpendicular to the rotating axis of the rotating piece, and the weight of the underwater sound transduction piece is larger than that of the positioner. According to the invention, movable high-precision and high-stability hydrographic measurement on water can be realized.

Description

Technical Field

[0001] The invention belongs to the technical field of ocean monitoring, and in particular relates to a measurement and communication device based on an underwater acoustic tomography unit. Background Art

[0002] Ocean acoustic tomography is an important technical means to measure ocean hydrological information. It uses the changes in the propagation speed of sound waves in the ocean to invert ocean environmental parameters, including ocean currents and sea temperatures. Ocean acoustic tomography has the following advantages in obtaining ocean environmental information: 1) Since sound waves have the advantage of low loss when propagating in seawater, large-scale marine environmental information can be obtained.

[0003] 2) Based on the multipath effect of sound propagation, the three-dimensional structure of the ocean environment field can be obtained using limited acoustic tomography nodes.

[0004] 3) Acoustic tomography is a non-contact measurement method that can avoid the impact of instrument deployment on the marine environment.

[0005] Most existing ocean acoustic tomography schemes fix the acoustic tomography device on a buoy or shore base. The measurement node position is fixed and the hydrological information can only be measured at a fixed position. There are problems such as fewer nodes and a limited number of sound lines, which leads to uncontrollable measurement errors. Cumulative errors are easily generated when inverting the hydrological information within the observation range. The platform carrying the measurement device is fixed and cannot perform adaptive sampling, and it is impossible to minimize the observation error by adjusting the sampling point position. When the buoy is tilted by ocean phenomena such as waves and internal wave fields, the position of the observation device cannot be accurately determined, which will also affect the measurement accuracy.

[0006] The Korean patent with the authorization number KR102291611B1 discloses a towed ocean observation platform that overcomes overturning, which has multiple floats for floating on the water surface, the floats are rotatably connected to a rotating module, the rotating module is connected to an underwater sound detection device and a satellite locator, wherein the underwater sound detector can rely on its own weight to remain below the water surface, and cooperate with the rotatable scheme of the float relative to the underwater detection device to achieve the anti-overturning of the underwater sound detection device. When the float in the prior art moves, the hydrodynamic force affects the swaying and sinking of the float, causing the position of the detection device to change continuously, affecting the accuracy of sending and receiving sound waves. Summary of the invention

[0007] The object of the present invention is to provide a measurement and communication device based on an underwater acoustic tomography unit with high floating stability and high measurement accuracy.

[0008] The technical solution adopted by the present invention to achieve the above-mentioned purpose is: A measurement and communication device based on an underwater acoustic tomography unit comprises: at least two boxes arranged outside the sea area, each box is movably connected to a float outside, the end of the box is rotatably connected to a rotating part, the rotating part is equipped with an underwater acoustic transducer and a locator, and the underwater acoustic transducer can be kept below the water surface by gravity. During the observation period, the box floats on the sea through the connected float, the underwater acoustic transducer sends a sound wave signal below the water surface, and at the same time, the locator realizes the real-time positioning of the box and the underwater acoustic transducer, and the sound wave signal cooperates with the position information to realize the acoustic tomography observation of the ocean hydrological information. Compared with the fixed acoustic tomography measurement device, the above scheme is convenient for mobile measurement of ocean hydrological information in a preset sea area, and is convenient for adjusting the sampling point position by changing the position of the deployed box, thereby reducing the observation error caused by factors such as terrain.

[0009] Preferably, the rotation axis of the rotating member extends laterally, the virtual connecting line between the hydroacoustic transducer and the positioner intersects and is perpendicular to the rotation axis of the rotating member, and the weight of the hydroacoustic transducer is greater than the weight of the positioner. When the box body floats on the sea relying on the buoy, since the weight of the hydroacoustic transducer is greater than the weight of the locator, under the condition that the rotating part can rotate freely at the tail of the box body, the hydroacoustic transducer can always remain below the sea surface by relying on its own gravity, and the locator remains above the sea surface. When the floating body carries the box body to shake and flip, the rotating part relies on the gravity of the hydroacoustic transducer to adaptively rotate and swing relative to the box body, so that the hydroacoustic transducer always presents a downward stable posture below the sea surface, reducing the degree of inclination of the hydroacoustic transducer posture affected by ocean phenomena such as waves and internal wave fields, improving the stability and accuracy of the direction of the hydroacoustic transducer during mobile observation on the sea surface, improving the accuracy of ocean hydrological information observation, and also ensuring that the locator is stable above the sea surface, which helps the positioning signal sent by the locator to be efficiently received, improving the accuracy of the device's positioning at sea, improving the efficiency of the device's recovery after positioning, reducing the possibility of the device capsizing and sinking with the locator, resulting in the inability to locate and recover, and reducing the risk and cost of the device losing contact.

[0010] Preferably, a frame is connected between the box and the float, the frame includes at least three rings, the rings are fixed around the side of the box, the float is rotatably connected inside the rings, the rotation axis of the float is parallel to the rotation axis of the rotating part, and the outer side of the float has blades. The float is rotatably arranged on the periphery of the box through a collar. When the box and the float are affected by ocean phenomena such as waves and internal wave fields, the contact between the vanes and the lateral impact water body can cause the float to rotate in the collar, which helps to reduce the kinetic energy of the lateral water body reaching the box through rotation. On the one hand, it reduces the possibility of the float and the box turning over, reduces the frequency of the rotating part rotating and swinging caused by the box turning over, further stabilizes the posture stability of the hydroacoustic transducer under the sea surface, improves the stability of the sound wave sending position, and improves the measurement accuracy of hydrological information. On the other hand, the rotating float carries the vanes to form a vortex of the direct current water body, which can weaken the impact speed of the lateral water flow, reduce the distance that the float is forced to move along the water flow impact direction, stabilize the position of the box at sea, and obtain the accurate position of the hydroacoustic transducer without the need for the locator to send the positioning signal at high frequency, which helps to reduce the frequency of the locator sending the position signal, thereby reducing the energy consumption of the locator and extending the endurance of the mobile observation of the device. The rotating float and blades weaken the lateral water flow, thereby weakening the lateral resistance encountered by the device when moving to the designated observation point, so that the device can reach the designated point quickly and accurately, and improve the speed of changing observation points during the observation process when the device moves at sea.

[0011] Preferably, a camera is provided at one end of the box body without a rotating part, and a protective cover surrounding the camera is provided on the box body. The camera can provide the box body with a field of view at sea, so as to obtain environmental information on the sea surface through the images captured by the camera, avoid the possibility of the device moving and running aground on a reef, and can also observe the waves on the sea in advance through the camera to help improve the accuracy of marine hydrological observations; when the water flow on the sea surface acts on the floating body, the protective cover protects the camera, and the rotating floating body can generate flowing air on the sea surface through the blades, reduce the probability of fog generation on the outer layer of the protective cover, improve the clarity of the camera image capture, and further improve the marine monitoring effect.

[0012] Preferably, the blade is inclined on the outer wall of the floating body, and the extension direction of the blade is not parallel to the rotation axis of the floating body. When the device is moving forward, the positive water flow contacts the blade, which can also cause the floating body to rotate. At this time, the vortex generated by the rotation of the blade driven by the floating body can be released backward, realizing the acceleration of the device, reducing the energy consumption caused by the device's movement, and at the same time improving the efficiency of mobile observation by realizing the speed of changing the observation point of the device; As the device moves forward, the air pressure at the center of the vortex generated by the floating body carrying the blades is low. Marine life, marine plants, marine debris, etc. can be guided to the center of the vortex and move to the tail of the device when passing through the device, reducing the possibility that the sound wave signal emitted by the underwater acoustic transducer will be affected by the above-mentioned obstacles during the transmission process, and improving the anti-interference ability of the sound wave signal. That is, by optimizing the environment within the transmission range of the sound wave signal, the accuracy of the sound wave signal released by the underwater acoustic transducer is improved, thereby improving the measurement accuracy of the ocean hydrological information.

[0013] Preferably, the hydroacoustic transducer includes a low-frequency hydroacoustic transducer fixed to the rotating member, the low-frequency hydroacoustic transducer is used to transmit medium- and low-frequency acoustic signals, and receive the transmitted signals with the low-frequency hydroacoustic transducers of other boxes. The low-frequency hydroacoustic transducer transmits medium- and low-frequency acoustic signals, and receives the transmitted signals with the corresponding low-frequency hydroacoustic transducers of other surface mobile platforms, so as to realize the acoustic tomography observation of ocean hydrological information.

[0014] Preferably, the rotating member is also equipped with an electric propeller, which is arranged close to the hydroacoustic transducer and is located underwater. The electric propeller can generate underwater thrust to realize the movement of the device on the sea surface, so as to realize periodic mobile observation of the device at sea.

[0015] Preferably, the rotating member includes a center member and a support rod, the center member is rotatably connected to the end of the box, the support rod passes through the center member, and the hydroacoustic transducer and the locator are respectively located at both ends of the support rod. The swing arm of the hydroacoustic transducer is lengthened by the support rod, the speed of the hydroacoustic transducer when swinging is reduced, and the deviation between the instantaneous position of the hydroacoustic transducer when sending the sound wave signal and the instantaneous position of the locator is reduced, thereby improving the position accuracy of the hydroacoustic transducer sending the sound wave signal.

[0016] Preferably, a control unit is provided in the box, and the control unit is used to control the electric propeller to realize the free movement of the communication device on the sea surface. The control unit controls the electric propeller to realize the forward movement and steering of the device floating on the sea, so that multiple boxes can regularly adjust the sampling positions according to the preset route, so as to analyze and obtain more universal and representative ocean hydrological information from multiple sampling data.

[0017] Preferably, a timing unit is provided in the box, and the timing unit is used to make the underwater acoustic transducer synchronously emit a detection sound wave when the locator sends a positioning signal.

[0018] Compared with the prior art, the present invention has the following beneficial effects: the present invention performs mobile measurement in a preset sea area, which is convenient for adjusting the sampling position and reducing observation errors; the hydroacoustic transducer always maintains its posture below the sea surface through the rotating part and its own weight, thereby improving the observation accuracy of ocean hydrological information; the locator maintains its posture on the sea surface under the action of the rotating part and the deadweight of the hydroacoustic transducer, so that the position information transmission is efficient and the positioning recovery efficiency is improved; the lateral kinetic energy of the water is weakened by the rotating buoy, the possibility of the hydroacoustic transducer swinging due to rollover is reduced, and the measurement accuracy of hydrological information is improved; a vortex is formed after the water body acts on the blade, which weakens the lateral interference and thus stabilizes the static floating position of the box, reduces the energy consumption of the locator, and extends the endurance; the vortex increases the forward speed of the device, increases the speed of the device to replace the observation point, and improves the data observation efficiency; the vortex formed by the blade during the forward movement guides the floating objects in a concentrated manner, thereby reducing the possibility of debris affecting the transmission of the sound wave signal; the device can regularly adjust the sampling position by controlling the electric propeller, so as to obtain more universal ocean hydrological information. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of a measurement and communication device based on an underwater acoustic tomography unit; Figure 2 A side view of a measurement and communication device based on an underwater acoustic tomography unit; Figure 3 A rear view of a measurement and communication device based on an underwater acoustic tomography unit; Figure 4 Schematic diagram of the internal structure of the box; Figure 5 It is a schematic diagram of the floating body and the frame structure; Figure 6 It is a schematic diagram of the sound wave propagation between the sampling points of the present invention; Figure 7 Schematic diagram of the angle sensor in the second embodiment of the present invention.

[0020] Figure numbers: housing 1; control unit 11; timing unit 12; power supply 13; communication unit 14; float 2; blade 21; rotating part 3; center part 31; support rod 32; hydroacoustic transducer 4; low-frequency hydroacoustic transducer 41; positioner 5; frame 6; collar 61; fixing ring 62; skeleton 63; electric propeller 7; camera 8; protective cover 81; angle sensor 9. DETAILED DESCRIPTION

[0021] The technical solution of the present invention is further described in detail below in conjunction with specific implementations and drawings: Obviously, the described embodiments are only some embodiments of the present invention, not all 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.

[0022] Embodiment 1: See attached Figure 1 -Attached Figure 6 A measurement and communication device based on an underwater acoustic tomography unit comprises: at least two boxes 1 arranged outside the sea area, each box 1 is movably connected to a float 2, the end of the box 1 is rotatably connected to a rotating member 3, the rotating member 3 is equipped with an underwater acoustic transducer 4 and a positioner 5, and the underwater acoustic transducer 4 can be kept below the water surface by gravity.

[0023] The floating body 2 can float on the water surface, and the box body 1 can be kept above the sea surface under the action of the floating body 2.

[0024] During the observation period, the box 1 floats on the sea through the connected buoy 2, and the hydroacoustic transducer 4 sends sound wave signals below the water surface. At the same time, the locator 5 realizes real-time positioning of the box 1 and the hydroacoustic transducer 4, and the sound wave signal is combined with the position information to realize acoustic tomography observation of ocean hydrological information. Compared with the fixed acoustic tomography measurement device, the above scheme is convenient for mobile measurement of ocean hydrological information in a preset sea area, and is convenient for adjusting the sampling point position by changing the position of the deployed box 1, thereby reducing the observation error caused by factors such as terrain.

[0025] The rotation axis of the rotating member 3 extends laterally, the virtual connecting line between the hydroacoustic transducer 4 and the positioner 5 intersects and is perpendicular to the rotation axis of the rotating member 3 , and the weight of the hydroacoustic transducer 4 is greater than that of the positioner 5 .

[0026] When the box body 1 floats on the sea relying on the buoy 2, since the weight of the hydroacoustic transducer 4 is greater than the weight of the locator 5, under the condition that the rotating member 3 can rotate freely at the tail of the box body 1, the hydroacoustic transducer 4 can always remain below the sea surface by relying on its own gravity, and the locator 5 remains above the sea surface. When the buoy 2 carries the box body 1 to shake or flip, the rotating member 3 relies on the gravity of the hydroacoustic transducer 4 to adaptively rotate and swing relative to the box body 1, so that the hydroacoustic transducer 4 always presents a downward stable posture below the sea surface, reducing the degree of inclination of the posture of the hydroacoustic transducer 4 affected by ocean phenomena such as waves and internal wave fields, improving the stability and accuracy of the direction of the hydroacoustic transducer 4 during mobile observation on the sea surface, improving the accuracy of marine hydrological information observation, and also ensuring that the locator 5 is stable above the sea surface, which helps the positioning signal sent by the locator 5 to be efficiently received, improving the accuracy of the device positioning at sea, improving the recovery efficiency of the device after positioning, reducing the possibility of the device capsizing and sinking with the locator 5 and causing it to be unable to be located and recovered, and reducing the risk and cost of the device losing contact.

[0027] A frame 6 is connected between the box body 1 and the float 2. The frame 6 includes at least three rings 61. The rings 61 are fixed around the side of the box body 1. The float 2 is rotatably connected inside the rings 61. The rotation axis of the float 2 is parallel to the rotation axis of the rotating member 3. The outer side of the float 2 has a blade 21.

[0028] There are at least two frames 6, which are respectively sleeved on the front and rear of the box body 1. The frame 6 also includes a fixing ring 62, which is sleeved outside the box body 1, a frame 63 is fixedly connected between the fixing ring 62 and the sleeve ring 61, and a reinforcing rod is fixedly connected between adjacent sleeve rings 61; There are at least two frames 6 which are respectively sleeved on the front and rear of the box body 1 .

[0029] The water-facing end of the float 2 has a pointed tip, which is used to reduce water resistance and wind resistance; the float 2 has a clamping ring on the outer wall for axial limiting.

[0030] The float 2 is rotatably arranged on the periphery of the box 1 through the collar 61. When the box 1 and the float 2 are affected by ocean phenomena such as waves and internal wave fields, the contact between the vane 21 and the lateral impact water body can cause the float 2 to rotate in the collar 61, which helps to reduce the kinetic energy of the lateral water body reaching the box 1 through rotation. On the one hand, it reduces the possibility of the float 2 and the box 1 rolling over, reduces the frequency of the rotation and swing of the rotating member 3 caused by the box 1 rolling over, further stabilizes the posture stability of the hydroacoustic transducer under the sea surface, improves the stability of the sound wave sending position, and improves the measurement accuracy of hydrological information. On the other hand, the rotating float 2 carrying the vane 21 can form a vortex of the direct current water body, weaken the impact speed of the lateral water flow, reduce the distance that the float 2 is forced to move along the water flow impact direction, stabilize the position of the box 1 at sea, and obtain the accurate position of the hydroacoustic transducer 4 without the need for the locator 5 to send the positioning signal at high frequency, which helps to reduce the frequency of the locator 5 sending the position signal, thereby reducing the energy consumption of the locator 5 and extending the endurance of the mobile observation of the device; The rotating float 2 and blade 21 weaken the lateral water flow, thereby weakening the lateral resistance encountered by the device when moving to the designated observation point, so that the device can reach the designated point quickly and accurately, and improve the speed of changing the observation point during the observation process when the device moves at sea.

[0031] A camera 8 is provided at one end of the box body 1 where the rotating member 3 is not provided, and a protective cover 81 surrounding the camera 8 is provided on the box body 1 .

[0032] The camera 8 can provide the box 1 with a field of view at sea, so as to obtain the environmental information on the sea surface through the images captured by the camera 8, and avoid the possibility of the device moving and running aground. The camera 8 can also be used to observe the waves at sea in advance to help improve the accuracy of ocean hydrological observations. When the water flow on the sea surface acts on the floating body 2, the protective cover 81 protects the camera 8, and the rotating floating body 2 can generate flowing air on the sea surface through the blades 21, reducing the probability of fog being generated on the outer layer of the protective cover 81, improving the clarity of the image captured by the camera 8, and further improving the ocean monitoring effect.

[0033] The blade 21 is obliquely disposed on the outer side wall of the floating body 2 , and the extending direction of the blade 21 is not parallel to the rotation axis of the floating body 2 .

[0034] When the device is moving forward, the forward water flow contacts the blade 21, which can also cause the float 2 to rotate. At this time, the vortex generated by the rotation of the blade 21 driven by the float 2 can be released backward, thereby accelerating the forward movement of the device and reducing the energy consumption caused by the movement of the device. At the same time, the efficiency of mobile observation is improved by realizing the speed of changing the observation point of the device. As the device moves forward, the air pressure at the center of the vortex generated by the vane 21 carried by the float 2 is low, and marine life, marine plants, marine garbage, etc. can be guided to the center of the vortex and move to the tail of the device when passing through the device, reducing the possibility that the sound wave signal emitted by the underwater acoustic transducer 4 is affected by the above-mentioned obstacles during the transmission process, thereby improving the anti-interference ability of the sound wave signal, that is, by optimizing the environment within the transmission range of the sound wave signal, the accuracy of the sound wave signal released by the underwater acoustic transducer 4 is improved, thereby improving the measurement accuracy of the ocean hydrological information.

[0035] The hydroacoustic transducer 4 includes a low-frequency hydroacoustic transducer 41 fixed to the rotating member 3 . The low-frequency hydroacoustic transducer 41 is used to transmit medium and low frequency acoustic signals and receive the transmitted signals with the low-frequency hydroacoustic transducers 4 of other boxes 1 .

[0036] The low-frequency underwater acoustic transducer 41 transmits medium- and low-frequency acoustic signals, and receives the transmitted signals from the corresponding low-frequency underwater acoustic transducers 41 of other surface mobile platforms to realize acoustic tomography observation of ocean hydrological information.

[0037] The rotating member 3 is also equipped with an electric propeller 7, which is arranged close to the hydroacoustic transducer 4 and is located underwater.

[0038] The electric propeller 7 can generate underwater thrust to enable the device to move on the sea surface, so as to realize periodic mobile observation of the device at sea.

[0039] The rotating member 3 includes a center member 31 and a support rod 32. The center member 31 is rotatably connected to the end of the box body 1. The support rod 32 vertically passes through the rotation axis of the center member 31. The hydroacoustic transducer 4 and the positioner 5 are respectively located at both ends of the support rod 32.

[0040] By lengthening the swing arm of the hydroacoustic transducer 4 through the support rod 32, the swinging speed of the hydroacoustic transducer 4 is reduced, and the deviation between the instantaneous position of the hydroacoustic transducer 4 when emitting the sound wave signal and the instantaneous position of the locator 5 is reduced, thereby improving the position accuracy of the hydroacoustic transducer 4 when sending the sound wave signal.

[0041] A control unit 11 is provided in the box body 1, and the control unit 11 is used to control the electric propeller 7 to realize the free movement of the communication device on the sea surface.

[0042] The control unit 11 controls the electric propeller 7 to realize the forward movement and steering of the device while floating on the sea, so that multiple boxes 1 can regularly adjust the sampling positions according to the preset route to analyze and obtain more universal and representative ocean hydrological information from multiple sampling data.

[0043] A timing unit 12 is provided in the housing 1 , and the timing unit 12 is used to enable the hydroacoustic transducer 4 to synchronously emit a detection sound wave when the locator 5 sends a positioning signal.

[0044] A power supply 13 is disposed in the housing 1 , and the power supply 13 is used to supply power to the timing unit 12 and the control unit 11 .

[0045] The initial sampling points of the measuring and communication devices are evenly distributed on the outer circumference of the area to be observed, and the measuring and communication devices move randomly along the circumference to perform multiple samplings; After the low-frequency hydroacoustic transducer 41 of each measuring and communication device completes the sound wave transmission, it switches to the receiving mode; the low-frequency hydroacoustic transducer 41 carried by each measuring and communication device receives the sound waves emitted by the low-frequency hydroacoustic transducers 41 carried by other measuring and communication devices, and calculates the delay of the arrival of each sound wave; when each measuring and communication device receives the low-frequency sound waves emitted by all other measuring and communication devices, a measurement is completed; when the measurement is completed at the initial sampling point, the relevant data including the position of the low-frequency hydroacoustic transducer 41, the order of arrival of the sound waves and the propagation time are transmitted back to the shore through the communication unit carried by the measuring and communication device for analysis, and the ocean hydrological information of the observation area at the corresponding time is inverted and calculated.

[0046] Embodiment 2: See attached Figure 7 On the basis of the first embodiment of the present invention, an angle sensor 9 is provided at the connection between the center piece 31 and the end of the box body 1. The main body of the angle sensor 9 is installed in the box body 1. The rotating shaft of the angle sensor 9 extends out of the box body 1 and is connected to the center piece 31. A communication unit 14 is also provided in the box body 1. The communication unit 14 is used to receive the rotation angle of the rotating shaft and send it to the shore.

[0047] The power supply 13 in the box body 1 supplies power to the angle sensor 9 .

[0048] When the low-frequency hydroacoustic transducer 41 is affected by water flow or collides with an object underwater, the low-frequency hydroacoustic transducer 41 is tilted, and the center piece 31 rotates a certain angle relative to the box 1. The angle sensor 9 feeds back the detected rotation angle of the rotation axis to the communication unit 14. After receiving the angle data signal, the communication unit 14 can accurately calculate the exact position of the low-frequency hydroacoustic transducer 41 under the box 1 in the current state in combination with the fixed distance between the low-frequency hydroacoustic transducer 41 and the rotation axis. According to the calculated position and the position of the box 1 measured by the locator 5, the exact position of the low-frequency hydroacoustic transducer 41 in the ocean at the current moment can be accurately obtained.

[0049] Through the above scheme, without directly positioning the low-frequency hydroacoustic transducer 41, the connection of the rotating part 3 and the layout of the low-frequency hydroacoustic transducer 41 are realized through the angle sensor 9, and the precise position of the low-frequency hydroacoustic transducer 41 can be obtained through data calculation, which can cooperate with the transmission data of the sound wave signal to realize high-precision observation of ocean hydrological information, thereby reducing the hydrological information and hydrological information errors such as temperature and flow velocity at the corresponding time in the observation area.

[0050] The above scheme realizes the rotational connection between the rotating member 3 and the box body 1 through the angle sensor 9, and realizes the precise positioning of the low-frequency underwater acoustic transducer 41 at the same time. The overall structure is simple, the additional setting of the connecting shaft is reduced, and the cost is reduced.

[0051] The above scheme overcomes the defects of floating and poor navigation stability of traditional mobile ocean acoustic tomography devices. While stabilizing the posture of the low-frequency hydroacoustic transducer 41 in multiple directions, it realizes the precise positioning of the low-frequency hydroacoustic transducer 41, providing a high-precision measurement method for ocean hydrological information.

[0052] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A measurement and communication device based on an underwater acoustic tomography unit, comprising: At least two boxes (1) are arranged outside the sea area, characterized in that: each box (1) is movably connected to a floating body (2), the end of the box (1) is rotatably connected to a rotating member (3), the rotating member (3) is installed with an underwater acoustic transducer (4) and a positioner (5), and the underwater acoustic transducer (4) can be kept below the water surface by gravity.

2. A measurement and communication device based on an underwater acoustic tomography unit according to claim 1, characterized in that: The rotation axis of the rotating member (3) extends transversely, a virtual connecting straight line between the hydroacoustic transducer (4) and the positioner (5) intersects and is perpendicular to the rotation axis of the rotating member (3), and the weight of the hydroacoustic transducer (4) is greater than the weight of the positioner (5).

3. The measurement and communication device based on underwater acoustic tomography unit according to claim 1, characterized in that: A frame (6) is connected between the box body (1) and the floating body (2), the frame (6) comprising at least three collars (61), the collars (61) being fixedly encircled on the sides of the box body (1), the floating body (2) being rotatably connected inside the collars (61), the rotation axis of the floating body (2) being parallel to the rotation axis of the rotating member (3), and the outer side of the floating body (2) having a blade (21).

4. The measurement and communication device based on underwater acoustic tomography unit according to claim 3, characterized in that: The box body (1) is provided with a camera (8) at the end where the rotating member (3) is not provided, and the box body (1) is provided with a protective cover (81) surrounding the camera (8).

5. A measurement and communication device based on an underwater acoustic tomography unit according to claim 4, characterized in that: The blade (21) is arranged obliquely on the outer side wall of the floating body (2), and the extension direction of the blade (21) is not parallel to the rotation axis of the floating body (2).

6. The measurement and communication device based on underwater acoustic tomography unit according to claim 1, characterized in that: The underwater acoustic transducer (4) comprises a low-frequency underwater acoustic transducer (41) fixed to the rotating member (3), and the low-frequency underwater acoustic transducer (41) is used to transmit medium and low frequency acoustic signals, and to receive the transmitted signals from the low-frequency underwater acoustic transducer (41) of the other box (1).

7. The measurement and communication device based on underwater acoustic tomography unit according to claim 1, characterized in that: The rotating member (3) is also equipped with an electric propeller (7), and the electric propeller (7) is arranged close to the hydroacoustic transducer (4) and is located underwater.

8. The measurement and communication device based on underwater acoustic tomography unit according to claim 1, characterized in that: The rotating member (3) comprises a center member (31) and a support rod (32); the center member (31) is rotatably connected to an end of the box body (1); the support rod (32) passes through the center member (31); and the hydroacoustic transducer (4) and the positioner (5) are respectively located at two ends of the support rod (32).

9. The measurement and communication device based on underwater acoustic tomography unit according to claim 7, characterized in that: A control unit (11) is provided in the box (1), and the control unit is used to control the electric propeller (7) to achieve free movement of the communication device at sea.

10. The measurement and communication device based on underwater acoustic tomography unit according to claim 1, characterized in that: A timing unit (12) is provided in the box (1), and the timing unit (12) is used to enable the underwater acoustic transducer (4) to synchronously emit a detection sound wave when the locator (5) sends a positioning signal.

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