Underwater parachute-opening type relay sonar device

Abstract

The invention provides a parachute-opening type relay sonar device thrown in water. The parachute-opening type relay sonar device comprises a radio part, a sonar part and a shell structure. The housing structure accommodates the radio part and the sonar part. The radio part is located above the sonar part; the radio part realizes two-way transmission with the sonar part through a cable; the sonar part comprises a sonar vertical part and a sonar horizontal part; and the sonar vertical part and the sonar horizontal part form a three-dimensional detection system to solve the azimuth and depth of an underwater target. According to the invention, the vertical and horizontal sonar structures are utilized to construct a three-dimensional detection system so as to solve the orientation, depth and distance of an underwater target; long-distance communication with a mother ship can be realized through the radio part, uplink sonar information transmission and downlink working instruction transmission are carried out, the problem of distance orientation and blind area holding is solved, and better effectiveness is realized; the device does not depend on complex installation of a ship, has the characteristic of flexible layout, and can be independently arranged or arranged in a combined manner in a flying assisting manner and a throwing manner.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater acoustic detection, and in particular relates to an open-parachute relay sonar device dropped into water, which is used for relay acoustic detection of underwater detection targets. Background Art

[0002] Generally speaking, the detection range of a ship's sonar system is usually only a few nautical miles, and it can usually only detect the direction, not the distance and depth of the target. In addition, there are blind spots and weak vision areas at the bow and stern of the ship, which hinders long-distance detection in front and behind.

[0003] Patent document CN111025302A discloses an intelligent shipborne hydroacoustic positioning device, system and positioning method, wherein the positioning system includes a shipborne short array, a signal processing device and an underwater beacon. A transmitting transducer and a transmitting transducer are respectively arranged at the center position of the bottom of the shipborne short array and the water-entering end of the rigid connecting rod, and corresponding GPS antennas and corresponding GPS antennas are arranged; the signal processing device is arranged in the data processing cabin of the working mother ship; the underwater beacon is arranged at the underwater target, and the synchronous / asynchronous hydroacoustic pulse signal emitted by the underwater beacon is received by the short array. After being solved by the signal processing device, the positioning information is drawn and displayed, and continuous positioning can realize the navigation trajectory tracking of the underwater target.

[0004] The patent mentioned in the patent document CN111025302A constructs a set of underwater acoustic positioning methods to improve positioning accuracy, but is limited by factors such as detection distance and detection stereoscopic degree, and cannot construct ultra-long-distance stereoscopic detection.

[0005] The present invention, through the device's unique umbrella-shaped telescopic structure and functional layout, can form a configuration by assisted flight and relay, extending the breadth and depth of the detection range, and facilitating three-dimensional detection in a wider range and depth. Summary of the invention

[0006] In view of the defects in the prior art, the object of the present invention is to provide an underwater parachute-type relay sonar device.

[0007] According to the present invention, an underwater parachute-type relay sonar device includes: a radio unit, a sonar unit, and a shell structure;

[0008] The housing structure accommodates the radio unit and the sonar unit;

[0009] The radio unit is located above the sonar unit;

[0010] The radio unit realizes two-way transmission with the sonar unit through a cable;

[0011] The sonar unit comprises a vertical sonar unit and a horizontal sonar unit; the vertical sonar unit and the horizontal sonar unit form a three-dimensional detection system to calculate the position and depth of underwater targets.

[0012] Preferably, the vertical part of the sonar is suspended vertically on the sea surface after being dropped into the water, and a cylindrical piezoelectric transducer shared by both transmission and reception is used to detect targets and measure distance at the same time. The passive working frequency band is 100Hz-20kHz; the active frequency is 2k-5k, and the emitted sound wave waveform is a pulse waveform.

[0013] Preferably, the sonar horizontal part adopts a cross-type linear array, and the cross-type linear array is parallel to the sea surface underwater; the sonar horizontal part is a passive sonar that only receives signals.

[0014] Preferably, the sonar signal is transmitted uplink via a cable to a radio transmitter floating on the top of the radio unit, converted into a modulated radio signal for transmission, and then transmitted through a surface antenna. The mother ship then uses a radio receiver to demodulate the signal, and completes the relay detection function after information processing.

[0015] Preferably, when the downlink path is working, the mother ship sends relevant information via radio, the radio unit performs command demodulation, and converts and controls the transmission work of the sonar unit.

[0016] Preferably, the shell structure adopts watertight material resistant to electromagnetic interference, and contains a surround-type suspension airbag and a depth-fixing watertight cable. After detecting water immersion, it is quickly inflated to open the airbag, prop up the shell, and use the depth-fixing cable to lift the sonar unit to an underwater position through the depth-fixing cable.

[0017] Preferably, the airbag is a ring-type airbag that can be deployed laterally, and a depth-fixing cable is deployed longitudinally to connect the shell structure and the vertical part of the sonar.

[0018] Preferably, the vertical part of the sonar is retractable and the horizontal part of the sonar is foldable;

[0019] The vertical part of the sonar and the horizontal part of the sonar form an umbrella-shaped structure when fully extended.

[0020] Preferably, the underwater parachute-type relay sonar device is launched and landed in a designated area with the assistance of a rocket of a mother ship. When the water immersion detection unit of the underwater parachute-type relay sonar device detects a preset water immersion feature, its relay is connected to the power supply and automatically turns on.

[0021] Preferably, the mother ship uses a key to access and control the communication control module of the radio part of the parachute-type relay sonar device deployed in the water, thereby controlling the sonar module to start active and passive detection;

[0022] The sonar unit calculates the direction and depth of the underwater target, and then sends it to the mother ship or a similar device through the communication control module and finally transmits it to the mother ship. The mother ship demodulates the information and then connects to the ship's sonar system.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The present invention utilizes vertical and horizontal sonar structures to construct a three-dimensional detection system to calculate the position, depth and distance of underwater targets.

[0025] 2. The present invention can realize long-distance communication with the mother ship through the radio unit, transmit uplink sonar information and transmit downlink work instructions, which helps to solve the constraints of distance, azimuth and blind spots and achieve better effectiveness.

[0026] 3. The present invention does not rely on the complicated installation of ships and has the characteristics of flexible layout. It can be arranged separately or in combination using the flight-assisted type and the delivery type. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0028] Figure 1 This is a structural schematic diagram of the underwater open-parachute relay sonar device provided by the present invention.

[0029] The figure shows:

[0030] DETAILED DESCRIPTION

[0031] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0032] In the present invention, the mother ship's rocket-assisted launch launches the underwater parachute relay sonar device to a designated area. When the water immersion detection unit of the underwater parachute relay sonar device detects a preset water immersion feature (resistance is reduced to a set threshold), its relay is automatically powered on by connecting the power supply. The mother ship then accesses and controls the communication control module of the radio unit of the underwater parachute relay sonar device through a key, and then controls the sonar module to start active and passive detection. The sonar module performs A / D sampling and signal processing on the detection information, and adopts the LOFAR, DEMON, HYFIX, CODAR, DOPPLER-CPA combined detection and positioning analysis method to solve the azimuth and depth of the underwater target, and then sends it to the mother ship or the same type of device through the communication control module and finally transmits it to the mother ship. The mother ship demodulates the information and then connects to the ship's sonar system to better achieve the relay detection efficiency without blind spots at a long distance.

[0033] Specifically, according to the present invention, a parachute-type relay sonar device for underwater deployment is provided, the top is the radio unit, and the lower part is the sonar unit. The sonar unit is mainly composed of a vertical unit and a horizontal unit, which together form a three-dimensional detection system to solve the direction and depth of underwater targets. The vertical unit can be suspended vertically on the sea surface when it is put into the water. This part adopts a cylindrical piezoelectric transducer shared by both transmission and reception. It can detect targets while measuring distance. The passive working frequency band is 100Hz-20kHz; the active frequency is 2k-5k, and the emitted sound wave waveform is a pulse waveform. According to the internal program, the horizontal part of the cross-shaped linear array can be opened underwater parallel to the sea surface. The horizontal part is a passive sonar that only receives signals. The radio unit realizes two-way transmission with the sonar unit through a cable. The sonar signal is transmitted uplink through the cable to the radio transmitter floating on the top of the water, which is converted into a radio signal modulated and transmitted, and then transmitted through the surface antenna. It is then demodulated by the mother ship using a radio receiver, and the relay detection function is completed after information processing. In the downlink path, the mother ship sends relevant information via radio, which is demodulated by the device radio unit and converts and controls the transmission of the sonar unit. The components are as follows:

[0034] Shell structure: The container that assembles all components together is made of watertight material that is resistant to electromagnetic interference and contains a surround-type suspended airbag and a depth-fixing watertight cable. When water immersion is detected, it is quickly inflated to open the airbag, prop up the shell, and use the depth-fixing cable to lift the sonar module to a position 20 meters underwater.

[0035] Energy module: The energy module is divided into two parts. The main power supply part is powered by a built-in high-efficiency hydrogen fuel-powered lithium battery, which can provide dozens of hours of working endurance. The auxiliary power supply part is located on the surface of the radio part and is composed of a solar charging module, which provides support for endurance according to weather conditions.

[0036] Communication control module: Located at the upper end of the shell structure, it consists of a communication antenna, a radio modulation and demodulation module, and a control module. The communication antenna can be automatically controlled to extend and retract 0.5-2 meters to prevent packet loss caused by wave coverage. The modulation process is used at the beginning of the communication process to convert the analog signal or digital signal to be transmitted into a signal suitable for channel transmission. Modulation can be achieved by changing the amplitude, phase or frequency of the carrier with the change of the signal amplitude. On the mother ship, the modulated signal is restored to the original signal to be transmitted, and the baseband signal is extracted from the carrier for processing. The mother ship is equipped with a communication control machine to ensure the communication control between the mother ship and the device through the communication process of mutual modulation and demodulation. The communication uses GMSK composed of FM to reduce the side lobes of the device radio signal. At the same time, encryption technology is introduced in the communication process, and access and control are entered through keys to ensure communication security. Advanced machine learning algorithms are used to process and analyze multimodal signals in real time, automatically identify and propose interference such as environmental noise, and improve signal quality.

[0037] Positioning module: It uses Beidou positioning on water and sonar positioning underwater, combined with Beidou satellite-based differential measurement and geometric positioning methods for positioning. It integrates a variety of sensors (such as accelerometers, gyroscopes, magnetometers, salinometers, acoustic sensors, etc.), and uses multi-sensor data fusion technology to achieve positioning. The information reports the accurate coordinate position of the device to the mother ship in real time via the communication control module. The sonar positioning has a built-in adaptive environmental compensation unit to collect ocean environmental parameters (such as water temperature, salinity, flow rate, etc.), and automatically adjusts the sonar positioning parameters according to changes in environmental parameters to ensure the stability of positioning accuracy.

[0038] Sonar module: Control the vertical and horizontal sonar transducers to perform active transmission and passive reception. The horizontal and vertical sonars form an umbrella-shaped structure when fully extended to maximize the detection range. The horizontal sonar module is mainly composed of multiple sensor units, each of which contains sensitive elements and signal conditioning circuits. The signal is sampled and processed by A / D. It uses LOFAR, DEMON, HYFIX, CODAR, and DOPPLER-CPA combined detection and positioning analysis methods, and combines multi-beam synthesis and formation technology with deep learning algorithms to solve the direction, depth and distance of underwater targets. The sonar module uses adaptive interference cancellation technology based on minimum mean square error (LMS). It collects noise and vibration such as waves through vector micro-noise sensors and micro-vibration sensors, and sends them to the adaptive cancellation unit of the communication control module as reference signals. The fusion modal algorithm is used to effectively suppress noise.

[0039] Video module: Equipped with a high-definition video camera and auxiliary lighting, it transmits video image data to the mother ship through the communication control module below the intersection of the horizontal sonar to visually assist in identifying target information. This module consumes a lot of power and can be turned on or off by the mother ship as needed.

[0040] Anti-theft module: When the anti-theft module receives the anti-theft instruction from the control program of the communication control module, the erasing program automatically assigns all internal data to 0 to achieve soft erasure. At the same time, a strong current is started to impact the key module for physical destruction, the self-sinking function set in the program of the activation module is started, and the airbag is punctured, causing the device to sink by itself to prevent the program from being obtained by other parties.

[0041] Anti-electromagnetic interference design of the device: 1. Use shielding to suppress the influence of internal and external bidirectional radiation. In the selection of shell materials, use materials with high magnetic permeability to prevent magnetic saturation; shield the openings and gaps to control the intrusion of external electromagnetic interference; increase the physical distance between electronic components and discharge circuits to reduce the influence of electromagnetic radiation. 2. Use transformer isolation to achieve physical isolation between the main and auxiliary coils, and power is supplied based on the principle of induced electromotive force generated by changes in magnetic flux. The output can be controlled by the turns ratio. 3. Use hardware interface protection design. In order to avoid static electricity and instantaneous electrical surges in the system, it is appropriate to consider adding interface protection devices to necessary back-end interfaces, including rectifiers, fuses, and filters, such as TVS filtering devices.

[0042] The energy module, communication control module, positioning module, anti-theft module, airbag and depth-fixing cable are embedded in the top of the shell structure; the sonar module is embedded in the lower part of the shell structure, which can control the vertical sonar part to extend and unfold downward, and then the horizontal sonar part to fold and unfold 90 degrees, forming an umbrella shape as a whole; the video module is embedded in the bottom of the shell structure.

[0043] The airbag is a ring-type airbag that can be deployed horizontally, and the depth-fixing cable is deployed longitudinally to connect the shell structure and the vertical part of the sonar. The vertical part of the sonar is retractable, and the horizontal part of the sonar is foldable.

[0044] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0045] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. An underwater parachute-type relay sonar device, characterized in that: include: Radio section, sonar section, hull structure; The housing structure accommodates the radio unit and the sonar unit; The radio unit is located above the sonar unit; The radio unit realizes two-way transmission with the sonar unit through a cable; The sonar part includes: a sonar vertical part and a sonar horizontal part; The sonar vertical part and the sonar horizontal part form a three-dimensional detection system to calculate the direction and depth of underwater targets.

2. The underwater parachute-type relay sonar device according to claim 1, characterized in that: After the sonar vertical part is put into the water, it floats vertically on the sea surface. It adopts a cylindrical piezoelectric transducer shared by both transmission and reception to detect targets and measure distance at the same time. The passive working frequency band is 100Hz-20kHz; the active frequency is 2k-5k, and the emitted sound wave waveform is a pulse waveform.

3. The underwater parachute-type relay sonar device according to claim 1, characterized in that: The sonar horizontal part adopts a cross-type linear array, and the cross-type linear array is parallel to the sea surface underwater; the sonar horizontal part is a passive sonar that only receives signals.

4. The underwater parachute-type relay sonar device according to claim 1, characterized in that: The sonar signal is transmitted upward via cable to the radio transmitter floating on the top of the radio unit, where it is converted into a modulated radio signal and transmitted through a surface antenna. It is then demodulated by a radio receiver on the mother ship and the relay detection function is completed after information processing.

5. The underwater parachute-type relay sonar device according to claim 1, characterized in that: When working in the downlink path, the mother ship sends relevant information via radio, the radio unit demodulates the command, and converts and controls the transmission of the sonar unit.

6. The underwater parachute-type relay sonar device according to claim 1, characterized in that: The shell structure is made of watertight material that is resistant to electromagnetic interference, and contains a surrounding suspended airbag and a depth-fixing watertight cable. When water immersion is detected, it is quickly inflated to open the airbag, prop up the shell, and use the depth-fixing cable to lift the sonar unit to an underwater position.

7. The underwater parachute-type relay sonar device according to claim 6, characterized in that: The airbag is a ring-type airbag that can be deployed laterally, and a depth-fixing cable is deployed longitudinally to connect the shell structure and the vertical part of the sonar.

8. The underwater parachute-type relay sonar device according to claim 1, characterized in that: The vertical part of the sonar is retractable, and the horizontal part of the sonar is foldable; The vertical part of the sonar and the horizontal part of the sonar form an umbrella-shaped structure when fully extended.

9. The underwater parachute-type relay sonar device according to claim 1, characterized in that: The underwater parachute-type relay sonar device is launched and landed in a designated area with the help of a rocket from a mother ship. When a water immersion detection unit of the underwater parachute-type relay sonar device detects a preset water immersion feature, its relay is connected to a power source and automatically turns on.

10. The underwater parachute-type relay sonar device according to claim 1, characterized in that: The mother ship uses the key to access and control the communication control module of the radio part of the parachute-type relay sonar device deployed in the water, and then controls the sonar module to start active and passive detection; The sonar unit calculates the direction and depth of the underwater target, and then sends it to the mother ship or a similar device through the communication control module and finally transmits it to the mother ship. The mother ship demodulates the information and then connects to the ship's sonar system.

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