A measurement and communication device based on an underwater acoustic tomography unit

Abstract

The present invention discloses a measurement and communication device based on an underwater acoustic tomography unit, belonging to the technical field of ocean monitoring. The device includes at least two boxes arranged on the periphery of a sea area. A floating body is movably connected to each box. A rotating member is rotatably connected to the end of the box. An underwater acoustic transducer and a locator are installed on the rotating member. The underwater acoustic transducer can be kept below the water surface by gravity. The rotation axis of the rotating member extends horizontally. The virtual connection line between the underwater acoustic transducer and the locator intersects and is perpendicular to the rotation axis of the rotating member. The weight of the underwater acoustic transducer is greater than the weight of the locator. The present invention can achieve high-precision and high-stability hydrological measurement that is movable on the water surface.

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:

[0003] 1) Since sound waves have the advantage of low loss when propagating in seawater, large-scale marine environmental information can be obtained.

[0004] 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.

[0005] 3) Acoustic tomography is a non-contact measurement method that can avoid the impact of instrument deployment on the marine environment.

[0006] 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.

[0007] 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

[0008] 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.

[0009] The technical solution adopted by the present invention to achieve the above-mentioned purpose is:

[0010] A measurement and communication device based on an underwater acoustic tomography unit, comprising: at least two boxes arranged on the periphery of a sea area, each box being movably connected with a floating body, the end of the box being rotatably connected with a rotating member, the rotating member being provided with an underwater acoustic transducer and a locator, and the underwater acoustic transducer being able to maintain itself below the water surface by gravity. During the observation period, the box floats on the sea through the connected floating body, the underwater acoustic transducer sends acoustic wave signals below the water surface, and at the same time, the locator realizes the real-time positioning of the box and the underwater acoustic transducer. The acoustic wave signals cooperate with the position information to realize the acoustic tomography observation of ocean hydrological information. Compared with the fixed acoustic tomography measurement device, the above solution facilitates the mobile measurement of ocean hydrological information within a preset sea area, and facilitates adjusting the sampling point position by changing the position of the placed box, thereby reducing the observation error caused by factors such as terrain.

[0011] Preferably, the rotation axis of the rotating member extends horizontally, the virtual connection line between the underwater acoustic transducer and the locator intersects and is perpendicular to the rotation axis of the rotating member, and the weight of the underwater acoustic transducer is greater than the weight of the locator. When the box floats on the sea relying on the floating body, since the weight of the underwater acoustic transducer is greater than the weight of the locator, under the condition that the rotating member can freely rotate at the tail of the box, the underwater acoustic transducer can always maintain itself below the sea surface by its own gravity, while the locator remains above the sea surface. When the floating body carries the box and sways or turns over, the rotating member adaptively rotates and swings relative to the box relying on the gravity of the underwater acoustic transducer, so that the underwater acoustic transducer always presents a stable downward attitude below the sea surface, reducing the influence of ocean phenomena such as waves and internal wave fields on the tilting degree of the attitude of the underwater acoustic transducer, improving the stability and accuracy of the direction of the underwater acoustic transducer during the mobile observation on the sea surface, improving the observation accuracy of ocean hydrological information, and at the same time 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 positioning accuracy of the device on the sea, improving the recovery efficiency after the device is positioned, reducing the possibility that the device capsizes and carries the locator underwater resulting in inability to position and recover, and reducing the risk and cost of the device losing contact.

[0012] Preferably, a framework is connected between the box body and the floating body. The framework includes at least three collar rings. The collar rings are fixedly wound around the side of the box body. A floating body is rotatably connected within the collar rings. The rotation axis of the floating body is parallel to the rotation axis of the rotating member. The outer side of the floating body is provided with blade plates. The floating body is rotatably arranged around the periphery of the box body through the collar rings. When the box body and the floating body are affected by marine phenomena such as waves and internal wave fields, the contact between the blade plates and the impacting water body on the side can cause the floating body to rotate within the collar rings, which helps to reduce the kinetic energy of the lateral water body reaching the box body through rotation. On the one hand, it reduces the possibility of the floating body and the box body tipping over, reduces the frequency of rotational swing of the rotating member caused by the tipping of the box body, further stabilizes the attitude stability of the underwater acoustic transducer below the sea surface, improves the stability of the acoustic wave transmission position, and improves the accuracy of hydrological information measurement. On the other hand, the rotating floating body carrying the blade plates can form a swirling flow of the direct flowing water body, which can weaken the impact speed of the lateral water flow, reduce the distance that the floating body is forced to move along the direction of the water flow impact, and stabilize the position of the box body at sea. On the premise that the locator does not need to send positioning signals frequently, the accurate position of the underwater acoustic transducer can be obtained, which helps to reduce the frequency of the locator sending position signals, thereby reducing the energy consumption of the locator and prolonging the endurance of the device for mobile observation;

[0013] The lateral water flow is weakened by the rotating floating body and the blade plates, thereby weakening the lateral resistance received when the device moves towards the designated observation point, enabling the device to quickly and accurately reach the designated point, and improving the speed of changing observation points during the observation process when the device moves at sea.

[0014] Preferably, a camera is provided at one end of the box body where there is no rotating member. The box body is provided with a protective cover surrounding the camera. The camera can provide the view of the box body at sea, so as to obtain the environmental information on the sea surface through the captured images of the camera, avoid the possibility of the device hitting a reef during movement, and can also observe the sea waves in advance through the camera to assist in improving the accuracy of marine hydrological observation; when the water flow on the sea surface acts on the floating body, the protective cover protects the camera. The rotating floating body can generate a flowing air current on the sea surface through the blade plates, reducing the probability of fog formation on the outer layer of the protective cover and improving the clarity of the camera image capture, further improving the marine monitoring effect.

[0015] Preferably, the blade plates are inclined on the outer side wall of the floating body, and the extending direction of the blade plates is not parallel to the rotation axis of the floating body. During the forward movement of the device, the forward water flow contacts the blade plates, which can also cause the floating body to rotate. At this time, the swirling flow generated by the floating body driving the blade plates to rotate can be released backward, realizing the acceleration of the device's forward movement, reducing the energy consumption caused by the device's movement, and also improving the efficiency of mobile observation by realizing the speed of changing the observation point of the device;

[0016] During the forward movement of the device, the air pressure at the center of the swirling flow generated by the floating body carrying the blade is low. When marine organisms, marine plants, marine garbage, etc. pass through the device, they can be guided to the center of the swirling flow and move towards the tail of the device, reducing the possibility that the acoustic wave signals emitted by the underwater acoustic transducer are affected by the above-mentioned obstacles during the transmission process, improving the anti-interference ability of the acoustic wave signals, that is, by optimizing the environment within the transmission range of the acoustic wave signals, improving the accuracy of the acoustic wave signals released by the underwater acoustic transducer, thereby improving the measurement accuracy of marine hydrological information.

[0017] Preferably, the underwater acoustic transducer includes a low-frequency underwater acoustic transducer fixed to the rotating member. The low-frequency underwater acoustic transducer is used to emit medium-low frequency acoustic signals and receive and transmit signals with the low-frequency underwater acoustic transducers of other boxes. The low-frequency underwater acoustic transducer emits medium-low frequency acoustic signals and receives and transmits signals with the low-frequency underwater acoustic transducers corresponding to other surface mobile platforms to achieve acoustic tomography observation of marine hydrological information.

[0018] Preferably, an electric thruster is also installed on the rotating member. The electric thruster is arranged close to the underwater acoustic transducer and is located underwater. The electric thruster can generate underwater thrust to realize the movement of the device on the sea surface, so as to achieve periodic mobile observation of the device on the sea.

[0019] Preferably, the rotating member includes a central member and a support rod. The central member is rotatably connected to the end of the box body. The support rod passes through the central member, and the underwater acoustic transducer and the locator are respectively located at both ends of the support rod. By lengthening the swing arm of the underwater acoustic transducer through the support rod, the speed of the underwater acoustic transducer during swinging is reduced, and the deviation between the instantaneous position of the acoustic wave signal emitted by the underwater acoustic transducer and the instantaneous position of the locator during positioning is reduced, thereby improving the position accuracy of the acoustic wave signal sent by the underwater acoustic transducer.

[0020] Preferably, a control unit is provided in the box body. The control unit is used to control the electric thruster to achieve the free movement of the communication device on the sea surface. By controlling the electric thruster through the control unit, the device can move forward and turn while floating on the sea, so that multiple boxes can regularly adjust the sampling positions according to the preset route, in order to analyze and obtain more universal and representative marine hydrological information from multiple sampling data.

[0021] Preferably, a timing unit is provided in the box body. The timing unit is used to make the underwater acoustic transducer synchronously emit detection acoustic waves when the locator sends a positioning signal.

[0022] The present invention has the following beneficial effects compared with the prior art: In this case, mobile measurement is carried out within a preset sea area, which facilitates adjusting the sampling position to reduce the observation error; the underwater acoustic transducer always maintains its attitude under the sea surface through the rotating part and its own weight, improving the observation accuracy of ocean hydrological information; the locator maintains its attitude on the sea surface under the action of the rotating part and the weight of the underwater acoustic transducer, enabling efficient transmission of position information and improving the positioning and recovery efficiency; the rotating floating body weakens the kinetic energy of the lateral water flow, reducing the possibility of the underwater acoustic transducer swinging caused by capsizing and improving the measurement accuracy of hydrological information; after the water acts on the vane, a swirling flow is formed, weakening the lateral interference and thus stabilizing the static floating position of the box body, reducing the energy consumption of the locator and extending the endurance; the swirling flow increases the forward speed of the device, improves the speed of the device to replace the observation point, and improves the data observation efficiency; the swirling flow formed by the vane during the forward process centrally guides floating objects, reducing the possibility of debris affecting the transmission of acoustic signals; by controlling the electric thruster, the device regularly adjusts the sampling position, facilitating the acquisition of more universal ocean hydrological information. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of a measurement and communication device based on an underwater acoustic tomography unit;

[0024] Figure 2 It is a side view of a measurement and communication device based on an underwater acoustic tomography unit;

[0025] Figure 3 It is a rear view of a measurement and communication device based on an underwater acoustic tomography unit;

[0026] Figure 4 It is a schematic diagram of the internal structure of the box body;

[0027] Figure 5 It is a schematic diagram of the floating body and the frame structure;

[0028] Figure 6 It is a schematic diagram of the acoustic wave propagation between sampling points of the present invention;

[0029] Figure 7 It is a schematic diagram of the angle sensor in the second embodiment of the present invention.

[0030] Reference numerals in the drawings: box body 1; control unit 11; timing unit 12; power supply 13; communication unit 14; floating body 2; vane 21; rotating part 3; central part 31; support rod 32; underwater acoustic transducer 4; low-frequency underwater acoustic transducer 41; locator 5; frame 6; collar 61; fixing ring 62; skeleton 63; electric thruster 7; camera 8; protective cover 81; angle sensor 9. DETAILED DESCRIPTION OF THE INVENTION

[0031] The technical solutions of the present invention will be further described in detail below in conjunction with the specific embodiments and the drawings:

[0032] Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the protection scope of the present invention.

[0033] Embodiment 1:

[0034] See the appendix Figure 1 - appendix Figure 6 , a measurement and communication device based on an underwater acoustic tomography unit, comprising: at least two boxes 1 arranged on the periphery of the sea area, each box 1 is movably connected with a floating body 2 outside, the end of the box 1 is rotatably connected with a rotating member 3, the rotating member 3 is installed with an underwater acoustic transducer 4 and a locator 5, and the underwater acoustic transducer 4 can be kept below the water surface by gravity.

[0035] The floating body 2 can float on the water surface, and the box 1 can be kept above the sea surface under the action of the floating body 2.

[0036] During the observation period, the box 1 realizes floating on the sea through the connected floating body 2, the underwater acoustic transducer 4 sends acoustic wave signals below the water surface, and at the same time, the locator 5 realizes the real-time positioning of the box 1 and the underwater acoustic transducer 4. The acoustic wave signals cooperate 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 solution is convenient for the mobile measurement of ocean hydrological information in the preset sea area, and is convenient to adjust the sampling point position by changing the position of the placed box 1, so as to reduce the observation error caused by factors such as terrain.

[0037] The rotation axis of the rotating member 3 extends horizontally, the virtual connection line of the underwater acoustic transducer 4 and the locator 5 intersects and is perpendicular to the rotation axis of the rotating member 3, and the weight of the underwater acoustic transducer 4 is greater than the weight of the locator 5.

[0038] When the box body 1 floats on the sea relying on the floating body 2, since the weight of the underwater acoustic transducer 4 is greater than that of the locator 5, under the condition that the rotating part 3 can freely rotate at the tail of the box body 1, the underwater acoustic transducer 4 can always stay below the sea surface by its own gravity. At the same time, the locator 5 stays above the sea surface. When the floating body 2 drives the box body 1 to shake and turn over, the rotating part 3 rotates and swings adaptively relative to the box body 1 relying on the gravity of the underwater acoustic transducer 4, so that the underwater acoustic transducer 4 always presents a stable downward attitude below the sea surface, reducing the influence of ocean phenomena such as waves and internal wave fields on the tilting degree of the attitude of the underwater acoustic transducer 4, improving the stability and accuracy of the direction of the underwater acoustic transducer 4 during the mobile observation on the sea surface, improving the observation accuracy of ocean hydrological information. At the same time, it also ensures that the locator 5 stays stably above the sea surface, which helps the positioning signal sent by the locator 5 to be efficiently received, improving the positioning accuracy of the device on the sea, improving the recovery efficiency of the device after positioning, reducing the possibility that the device capsizes and the locator 5 sinks into the water resulting in inability to position and recover, and reducing the risk and cost of the device losing contact.

[0039] A frame 6 is connected between the box body 1 and the floating body 2. The frame 6 includes at least three collar rings 61. The collar rings 61 are fixedly wound around the side of the box body 1. The floating body 2 is rotatably connected within the collar rings 61. The rotation axis of the floating body 2 is parallel to the rotation axis of the rotating part 3. The outer side of the floating body 2 has blade plates 21.

[0040] There are at least two frames 6 which are respectively sleeved on the front and rear parts of the box body 1. The frame 6 further includes a fixing ring 62 which is sleeved outside the box body 1. A framework 63 is fixedly connected between the fixing ring 62 and the collar rings 61. Strengthening rods are fixedly connected between adjacent collar rings 61;

[0041] There are at least two frames 6 which are respectively sleeved on the front and rear parts of the box body 1.

[0042] The water-facing end of the floating body 2 has a pointed head which is used to reduce water resistance and wind resistance; the floating body 2 has snap rings on its outer wall for axial limit.

[0043] The floating body 2 is rotatably arranged around the periphery of the box body 1 through a collar 61. When the box body 1 and the floating body 2 are affected by marine phenomena such as waves and internal wave fields, the contact between the vane 21 and the laterally impacting water body can cause the floating body 2 to rotate within the collar 61, which helps to reduce the kinetic energy of the laterally approaching water body reaching the box body 1 by rotation. On the one hand, it reduces the possibility of the floating body 2 and the box body 1 tipping over, reduces the rotation and swing frequency of the rotating member 3 caused by the tipping of the box body 1, further stabilizes the attitude stability of the underwater acoustic transducer below the sea surface, improves the stability of the acoustic wave transmission position, and improves the accuracy of hydrological information measurement. On the other hand, the rotating floating body 2 carrying the vane 21 can form a swirling flow of the direct-flow water body, which can weaken the impact speed of the lateral water flow, reduce the distance that the floating body 2 is forced to move along the water flow impact direction, and stabilize the position of the box body 1 at sea. On the premise that the locator 5 does not need to send positioning signals frequently, the accurate position of the underwater acoustic transducer 4 can be obtained, which helps to reduce the frequency of the locator 5 sending position signals, thereby reducing the energy consumption of the locator 5 and extending the endurance of the device for mobile observation;

[0044] The lateral water flow is weakened by the rotating floating body 2 and the vane 21, thereby weakening the lateral resistance suffered by the device when moving towards the designated observation point, enabling the device to quickly and accurately reach the designated point, and improving the speed of changing observation points during the observation process when the device is moving at sea.

[0045] A camera 8 is provided at one end of the box body 1 where the rotating member 3 is not provided, and the box body 1 is provided with a protective cover 81 surrounding the camera 8.

[0046] The camera 8 can provide the view of the box body 1 at sea, so as to obtain the environmental information on the sea surface through the captured images of the camera 8, avoid the possibility of the device hitting a reef during movement, and can also observe the sea waves in advance through the camera 8 to assist in improving the accuracy of marine hydrological observation; 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 a flowing air current on the sea surface through the vane 21, reducing the probability of fog formation on the outer layer of the protective cover 81 and improving the clarity of the captured images of the camera 8, further improving the marine monitoring effect.

[0047] The vane 21 is inclined on the outer side wall of the floating body 2, and the extending direction of the vane 21 is not parallel to the rotation axis of the floating body 2.

[0048] During the forward movement of the device, the forward water flow contacts the vane 21, which can also cause the floating body 2 to rotate. At this time, the swirling flow generated by the floating body 2 driving the vane 21 to rotate can be released backward, realizing the acceleration of the device's forward movement, 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 the device changing the observation point;

[0049] During the forward movement of the device, the central air pressure of the swirling flow generated by the floating body 2 carrying the vane 21 is low. When marine organisms, marine plants, marine debris, etc. pass through the device, they can be guided to the center of the swirling flow and move towards the tail of the device, reducing the possibility that the acoustic wave signal emitted by the underwater acoustic transducer 4 is affected by the above obstacles during transmission, improving the anti-interference ability of the acoustic wave signal, that is, by optimizing the environment within the transmission range of the acoustic wave signal, improving the accuracy of the acoustic wave signal released by the underwater acoustic transducer 4, thereby improving the measurement accuracy of marine hydrological information.

[0050] The underwater acoustic transducer 4 includes a low-frequency underwater acoustic transducer 41 fixed to the rotating member 3. The low-frequency underwater acoustic transducer 41 is used to emit medium-low frequency acoustic signals and receive and transmit signals with the low-frequency underwater acoustic transducers 4 in other boxes 1.

[0051] The low-frequency underwater acoustic transducer 41 emits medium-low frequency acoustic signals and receives and transmits signals with the low-frequency underwater acoustic transducers 41 corresponding to other surface mobile platforms to achieve acoustic tomography observation of marine hydrological information.

[0052] The rotating member 3 is also equipped with an electric thruster 7. The electric thruster 7 is arranged close to the underwater acoustic transducer 4 and both are located underwater.

[0053] The electric thruster 7 can generate underwater thrust to achieve the movement of the device on the sea surface, so as to achieve periodic mobile observation of the device at sea.

[0054] The rotating member 3 includes a central member 31 and a support rod 32. The central member 31 is rotatably connected to the end of the box 1. The support rod 32 perpendicularly passes through the rotation axis of the central member 31. The underwater acoustic transducer 4 and the locator 5 are respectively located at both ends of the support rod 32.

[0055] By lengthening the swing arm of the underwater acoustic transducer 4 through the support rod 32, the speed of the underwater acoustic transducer 4 during swinging is reduced, and the deviation between the instantaneous position of the acoustic wave signal emitted by the underwater acoustic transducer 4 and the instantaneous position of the locator 5 during positioning is reduced, thereby improving the position accuracy of the acoustic wave signal sent by the underwater acoustic transducer 4.

[0056] A control unit 11 is provided inside the box 1. The control unit 11 is used to control the electric thruster 7 to achieve the free movement of the communication device on the sea surface.

[0057] By controlling the electric thruster 7 through the control unit 11, the device can move forward and turn while floating on the sea, enabling multiple boxes 1 to regularly adjust the sampling positions according to a preset route, so as to analyze and obtain more universal and representative marine hydrological information from multiple sampling data.

[0058] A timing unit 12 is provided inside the box 1. The timing unit 12 is used to make the underwater acoustic transducer 4 synchronously emit detection acoustic waves when the locator 5 sends a positioning signal.

[0059] A power supply 13 is arranged inside the box body 1, and the power supply 13 is used to supply power to the timing unit 12 and the control unit 11.

[0060] The initial sampling points of the measurement and communication devices are evenly distributed on the circumferential periphery of the area to be observed. The measurement and communication devices move randomly along the circumference for multiple samplings.

[0061] After each low-frequency underwater acoustic transducer 41 of the measurement and communication devices completes acoustic wave emission, it is converted into a receiving mode; the low-frequency underwater acoustic transducer 41 carried by each measurement and communication device receives the acoustic waves emitted by the low-frequency underwater acoustic transducers 41 carried by other measurement and communication devices, and calculates the delay of each acoustic wave arrival; when each measurement and communication device receives the low-frequency acoustic waves emitted by all other measurement and communication devices, a measurement is completed; when the measurement is completed at the initial sampling point, relevant data including the position of the low-frequency underwater acoustic transducer 41, the order of acoustic wave arrival, and the propagation time is transmitted back to the shore base through the communication unit carried by the measurement and communication device for analysis, and the ocean hydrological information at the corresponding moment of the observation area is inversely calculated.

[0062] Embodiment 2:

[0063] See the appendix Figure 7 Based on Embodiment 1 of the present invention, an angle sensor 9 is provided at the connection between the central member 31 and the end of the box body 1. The main body of the angle sensor 9 is installed inside the box body 1, and the rotating shaft of the angle sensor 9 extends out of the box body 1 and is connected to the central member 31. A communication unit 14 is also arranged inside the box body 1, and the communication unit 14 is used to receive the rotation angle of the rotating shaft and send it to the shore base.

[0064] The power supply 13 inside the box body 1 supplies power to the angle sensor 9.

[0065] When the low-frequency underwater acoustic transducer 41 is affected by water flow or collides with an object underwater, the attitude of the low-frequency underwater acoustic transducer 41 is inclined at this time, and the central member 31 rotates a certain angle relative to the box body 1. The angle sensor 9 feeds back the rotation angle of the rotating shaft detected to the communication unit 14. After the communication unit 14 receives the angle data signal, combined with the fixed distance between the low-frequency underwater acoustic transducer 41 and the rotating shaft, the accurate position of the low-frequency underwater acoustic transducer 41 below the box body 1 in the current state can be accurately calculated. According to the position obtained by this calculation and the position of the box body 1 measured by the locator 5, the exact position of the low-frequency underwater acoustic transducer 41 in the ocean at the current moment can be accurately obtained.

[0066] Through the above solution, without directly positioning the low-frequency underwater acoustic transducer 41, the connection of the rotating member 3 and the layout of the low-frequency underwater acoustic transducer 41 are realized through the angle sensor 9, and the precise position of the low-frequency underwater acoustic transducer 41 can be obtained through data calculation, which can cooperate with the transmitted data of the acoustic signal to achieve high-precision observation of ocean hydrological information, and reduce the hydrological information and hydrological information error at the corresponding moment in the observation area.

[0067] The above solution realizes the rotational connection between the rotating member 3 and the box body 1 through the angle sensor 9, and at the same time realizes the precise positioning of the low-frequency underwater acoustic transducer 41. The overall structure is simple, reducing the additional setting of the connecting shaft body and lowering the cost.

[0068] The above solution overcomes the defects of poor floating and sailing stability of the traditional mobile ocean acoustic tomography device. While realizing the stable attitude of the low-frequency underwater acoustic transducer 41 in multiple directions, it realizes the precise positioning of the low-frequency underwater acoustic transducer 41, providing a high-precision calculation method for ocean hydrological information.

[0069] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. An underwater acoustic tomography unit-based measurement and communication device, comprising: At least two boxes (1) arranged on the periphery of the sea area, characterized in that: a floating body (2) is movably connected outside each said box (1), a rotating member (3) is rotatably connected to the end of the box (1), a hydroacoustic transducer (4) and a locator (5) are installed on the rotating member (3), the hydroacoustic transducer (4) can be kept below the water surface by gravity, a frame (6) is connected between the box (1) and the floating body (2), the frame (6) includes at least three collar rings (61), the collar rings (61) are fixedly wound around the side of the box (1), and the floating body (2) is rotatably connected inside the collar rings (61), the rotation axis of the floating body (2) is parallel to the rotation axis of the rotating member (3), a vane (21) is arranged on the outside of the floating body (2), the vane (21) is inclined on the outer side wall of the floating body (2), the water-facing end of the floating body (2) has a pointed head, and the rotation axis of the rotating member (3) extends horizontally. The rotating member (3) includes a central member (31) and a support rod (32), the central member (31) is rotatably connected to the end of the box (1), the support rod (32) passes through the central member (31), an angle sensor (9) is arranged at the connection between the central member (31) and the end of the box (1), the main body of the angle sensor (9) is installed inside the box (1), the rotation shaft of the angle sensor (9) extends out of the box (1) and is connected to the central member (31), and a communication unit (14) is also arranged inside the box (1), and the communication unit (14) is used for receiving the rotation angle of the rotation shaft and sending it to the shore base.

2. The 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 horizontally, the virtual connection straight line between the hydroacoustic transducer (4) and the locator (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 locator (5).

3. The measurement and communication device based on an underwater acoustic tomography unit according to claim 1, wherein: The collar rings (61) are fixedly wound around the side of the box (1), a camera (8) is arranged at one end of the box (1) where the rotating member (3) is not provided, and the box (1) is provided with a protective cover (81) surrounding the camera (8).

4. The measurement and communication device based on an underwater acoustic tomography unit according to claim 1, characterized in that: The extending direction of the vane (21) is not parallel to the rotation axis of the floating body (2).

5. The measurement and communication device based on an underwater acoustic tomography unit according to claim 1, characterized in that: The hydroacoustic transducer (4) includes a low-frequency hydroacoustic transducer (41) fixed to the rotating member (3), and the low-frequency hydroacoustic transducer (41) is used for emitting medium and low-frequency acoustic signals and mutually receiving and transmitting signals with the low-frequency hydroacoustic transducers (41) of other said boxes (1).

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

7. The measurement and communication device based on an underwater acoustic tomography unit according to claim 1, characterized in that: The hydroacoustic transducer (4) and the locator (5) are respectively located at both ends of the support rod (32).

8. The measurement and communication device based on an underwater acoustic tomography unit according to claim 6, characterized in that: A control unit (11) is arranged inside the box (1), and the control unit is used for controlling the electric thruster (7) to realize the free movement of the communication device on the sea.

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

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