A rotary radar device and its recognition method

Abstract

The present invention provides a rotary radar device and an identification method thereof, belonging to the technical field of sonar radar. The rotary radar device includes a floating box, a floating ring is fixedly installed on the bottom surface of the floating box, and a first equipment box is fixedly installed on the top surface of the floating ring. In the present invention, the low-frequency sonar detector is rotated by a motor to the optimal detection angle parallel to the water surface, so as to make full use of the penetration advantage of low-frequency sound waves in deep water areas and achieve effective identification of deep targets. When the whole device moves in water, the system precisely controls the angles of each detector through the motor, and sequentially activates the high-frequency, medium-frequency, and low-frequency sonar detectors to detect the shallow water, middle layer, and deep water areas respectively. Compared with traditional frequency-adjustable sonar, the present invention adopts a multi-detector configuration with fixed frequencies, and each independently transmits detection data back, effectively improving the identification accuracy of targets at different water depths and the data processing efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of sonar radar, and in particular, to a rotary radar device and an identification method thereof. Background Art

[0002] Underwater target recognition by sonar radar is a technology that uses the principle of sound wave signals propagating in water and interacting with underwater objects, and identifies and locates underwater targets by analyzing echo signals. Different from traditional radars, sonars use sound waves instead of electromagnetic waves, which enables them to propagate more effectively in water and detect underwater targets. The basic principle of a sonar system is to emit sound wave signals and receive the echo signals reflected by target objects. The echo signals carry information such as the position, shape, and size of the target objects. By analyzing and processing the echo signals, underwater targets can be identified.

[0003] With the continuous development of sonar systems, it has become relatively common to use sonar systems to collect representative samples underwater. However, there are still some problems in the process of identifying and collecting underwater samples by existing sonar target recognition devices. The most commonly used frequency-modulated sonar at present can dynamically adjust the frequency within a certain range to optimize the detection performance. Low-frequency sound waves can penetrate deeper water layers, but their resolution is low and they are suitable for deep water areas. On the contrary, high-frequency sound waves can provide higher resolution, but their penetration ability is poor and they are only suitable for shallow water areas. The frequency-modulated sonar identifies targets at different distances by changing the frequency. However, in practical applications, the interpretation of echo signals becomes very complex. Signals at different frequencies will have a multipath effect during propagation, that is, the signals return to the receiver through different paths, which makes the echo signals no longer simple and increases the complexity of data processing. Summary of the Invention

[0004] To make up for the above deficiencies, the present invention provides a rotary radar device and an identification method thereof that overcome the above technical problems or at least partially solve the above problems.

[0005] The present invention is implemented as follows:

[0006] The present invention provides a rotary radar device, including a floating box. A floating ring is fixedly installed on the bottom surface of the floating box. A first equipment box is fixedly installed on the top surface of the floating box. A second equipment box is fixedly installed on the top surface of the first equipment box. A cavity is formed inside the floating box. Two equipment cavities are formed on the top surface of the floating box. A square through hole is formed through the middle of the floating box. A sonar recognition component is arranged inside the first equipment box. An acoustic wave focusing component is arranged on the bottom surface of the floating box;

[0007] The sonar recognition component includes a first rotating shaft, which is rotatably installed inside the first equipment box. An installation frame is fixedly installed on the outer surface of the sonar recognition component. Three installation blocks are fixedly installed inside the installation frame. The three installation blocks are equidistantly installed. A high-frequency sonar detector, a medium-frequency sonar detector, and a low-frequency sonar detector for emitting sound waves to detect and identify underwater objects are respectively installed on one side of the three installation blocks. A motor is arranged inside the second equipment box. The motor is fixedly installed on the top surface of the first equipment box. A first driving wheel is fixedly installed at the output end of the motor. A first driven wheel is fixedly installed on the outer surface of the first rotating shaft. The first driven wheel meshes with the first driving wheel. By controlling the rotation of the motor to drive the first driving wheel and the first driven wheel to mesh, the first rotating shaft is driven to rotate, so that the installation frame starts to rotate until the low-frequency sonar detector is parallel to the water surface. Low-frequency sound waves are suitable for deeper waters, so they can be used for the preliminary identification of underwater targets. By controlling the motor to continue rotating, the first rotating shaft is driven to rotate, and then the high-frequency sonar detector, the medium-frequency sonar detector, or the low-frequency sonar detector is switched for use. These independent detectors can use corresponding frequencies for detection according to the change of water depth without relying on the existing frequency-adjustable sonar system;

[0008] The sound wave focusing component includes a floating disk and a fixing ring. An isolation net is installed between the floating disk and the fixing ring. The sound wave focusing component is used for marking the area where the sound waves emitted by the high-frequency sonar detector, the medium-frequency sonar detector, and the low-frequency sonar detector are focused and collected.

[0009] In a preferred solution, a motor is arranged inside the second equipment box. The motor is fixedly installed on the top surface of the first equipment box. A first driving wheel is fixedly installed at the output end of the motor. A first driven wheel is fixedly installed on the outer surface of the first rotating shaft. The first driven wheel meshes with the first driving wheel.

[0010] In a preferred solution, mounting shafts are rotatably installed on both inner walls of the square through hole. A first fixing frame is fixedly installed between the two mounting shafts. Three focusing lenses are equidistantly installed inside the first fixing frame. The three focusing lenses are a gradient index lens, a spherical lens, and a circular lens respectively. During the rotation of the installation block, due to the action of the second driven wheel and the first driven wheel, the mounting shafts and the first fixing frame are driven to rotate synchronously. When the high-frequency sonar detector is parallel to the water surface, at this time, the corresponding focusing lens installed inside the first fixing frame, that is, the gradient index lens, is parallel to the high-frequency sonar detector. Similarly, when the medium-frequency sonar detector and the low-frequency sonar detector rotate to a position parallel to the water surface, the spherical mirror and the circular lens can be respectively located below the medium-frequency sonar detector and the low-frequency sonar detector to focus the sound waves emitted by the medium-frequency sonar detector and the low-frequency sonar detector.

[0011] In a preferred embodiment, a circular groove is formed in the bottom surface of the floating box, an electromagnet is fixedly installed inside the circular groove, an adsorption plate is fixedly installed on the top surface of the floating disc, the adsorption plate is adsorbed on the bottom surface of the electromagnet and is inserted into the circular groove, and a counterweight is fixedly installed on the bottom surface of the fixed ring.

[0012] In a preferred embodiment, an anti-foaming assembly is arranged inside the floating box. The anti-foaming assembly includes a storage bladder, extrusion plates are arranged on both sides of the storage bladder, the extrusion plates are movably clamped inside the floating box, clamping grooves are formed in the inner walls of both sides of the equipment cavity, a first clamping plate is movably clamped inside the clamping grooves, both ends of the first clamping plate extend to the extrusion plates, a connecting column is fixedly connected between one end of the first clamping plate located at the extrusion plate and the extrusion plate, and a first connecting rod is fixedly connected to one side surface of the first clamping plate.

[0013] In a preferred embodiment, a mounting disc is fixedly installed on one side surface of the first clamping plate located inside the equipment cavity, a spring is fixedly connected between one side surface of the mounting disc and the inner wall of one side of the equipment cavity, a limiting frame is fixedly connected to the other side surface of the first clamping plate, and a mounting seat is fixedly installed on one side surface of the equipment cavity.

[0014] In a preferred embodiment, a second rotating shaft is rotatably installed inside the mounting seat, a second bevel gear is fixedly installed at the top end of the second rotating shaft, a turntable is fixedly installed at the bottom surface of the second rotating shaft, a convex column is fixedly installed at the bottom surface of the turntable, a limiting frame is fixedly installed at the other end of the first connecting rod, the convex column is movably clamped inside the limiting frame, a discharge pipe is fixedly installed on the bottom surface of the floating box, and a pressure valve is fixedly installed on the outer surface of the discharge pipe.

[0015] In a preferred embodiment, a balancing assembly is arranged on the top surface of the floating box. The balancing assembly includes four vertical rods, the four vertical rods are symmetrically installed in pairs on the top surface of the first clamping plate, the top ends of the vertical rods are rotatably installed with inclined rods, and one ends of the inclined rods are movably connected inside the supports.

[0016] In a preferred embodiment, a second fixing frame is fixedly installed on the top surface of the floating box, a second clamping plate is movably clamped inside the second fixing frame, the support is fixedly installed on the top surface of the second clamping plate, a second connecting rod is fixedly installed on one side surface of the second clamping plate, a connecting plate is fixedly installed at one end of the second connecting rod, a floating block is fixedly installed on the bottom surface of the connecting plate, a plugging plate is fixedly installed on one side surface of the floating block, and one end of the plugging plate extends below the fixed ring.

[0017] A rotary radar identification method includes the following steps:

[0018] S1: First, determine the depths at different positions in the target water area. The initial position of the device is in the deep part of the water area. First, make the low-frequency sonar detector parallel to the water surface. Low-frequency sound waves are suitable for deep water areas to preliminarily identify underwater targets.

[0019] S2: Drive the whole device to move by the traction of an external traction device, and it will gradually approach the water area edge. The depth of the water area gradually becomes shallower. By switching to use a high-frequency sonar detector, a medium-frequency sonar detector, or a low-frequency sonar detector, according to the change of the water area depth, use the corresponding frequency for detection respectively.

[0020] S3: When the high-frequency sonar detector is parallel to the water surface, at this time, the corresponding focus lens installed inside the first fixing frame. When the sound wave of the high-frequency sonar detector passes through the gradient refractive index lens and emits into the water, the sound wave emitted by the high-frequency sonar detector is focused. During the use of the medium-frequency sonar detector and the low-frequency sonar detector, there will be corresponding focus lenses to focus the sound waves.

[0021] S4: By controlling the electromagnet to cut off the power, the floating disc loses its limit, that is, the fixing ring moves towards the bottom of the water, and the floating disc makes the isolation net always in an open state under the buoyancy force, covering the target object therein, marking the detected target object for subsequent sampling operations.

[0022] S5: When switching sonars of different frequencies, make the two pressing plates squeeze the storage bladder inside the floating box, and spray the defoaming agent inside the storage bladder to the area covered by the isolation net through the discharge pipe to eliminate the bubbles in the area covered by the isolation net.

[0023] A rotary radar device and its identification method provided by the present invention have the following beneficial effects:

[0024] 1. By setting up a sonar identification component, the low-frequency sonar detector can rotate to a position parallel to the water surface, which is suitable for target identification in deeper water areas. When the whole device moves, the motor controls the rotation to drive the first rotating shaft, so that the high-frequency sonar detector, the medium-frequency sonar detector, and the low-frequency sonar detector use sound waves of different frequencies in sequence according to the different depths of the water area. Different from the tunable sonars commonly used in the market, this device uses three independent sonar detectors to emit fixed-frequency sound waves of high frequency, medium frequency, and low frequency respectively, so as to achieve the best identification effect at different water depths.

[0025] 2. By setting up a defoaming component, during the rotation of the clamping groove, the first connecting rod is driven to move back and forth below the turntable. When one of the first clamping plates moves relative to each other, it can synchronously drive the other first clamping plate to move towards each other, thereby driving the two pressing plates to squeeze the storage bladder inside the floating box. During the squeezing process, the defoaming agent inside the storage bladder can be sprayed through the discharge pipe into the area covered by the isolation mesh, so as to eliminate the bubbles in the area covered by the isolation mesh, that is, to eliminate the bubbles in the acoustic wave transmission area, thereby further improving the acoustic wave transceiver efficiency.

[0026] 3. By setting up an acoustic wave focusing component, when the floating box is placed in water, the fixed ring can move downward under the action of the counterweight, so that the isolation mesh is fully unfolded, realizing the enclosure of the acoustic wave detection area, which can further make the acoustic waves gather and prevent the acoustic waves from spreading. Moreover, during the movement of the floating box, it can prevent other sundries in the water from blocking and driving away, preventing other sundries from passing under the acoustic wave transmission, which is more convenient for detecting underwater sundries and determining the target object. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, so they should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0028] Figure 1 is the overall three-dimensional view provided by the embodiment of the present invention;

[0029] Figure 2 is the overall cross-sectional structure schematic diagram provided by the embodiment of the present invention;

[0030] Figure 3 is the sonar detection component structure schematic diagram provided by the embodiment of the present invention;

[0031] Figure 4 is the floating box cross-sectional structure schematic diagram provided by the embodiment of the present invention;

[0032] Figure 5 is the defoaming component structure schematic diagram provided by the embodiment of the present invention;

[0033] Figure 6 is the bevel gear two structure schematic diagram provided by the embodiment of the present invention;

[0034] Figure 7 is the overall bottom view structure schematic diagram provided by the embodiment of the present invention;

[0035] Figure 8 Schematic diagram of the acquisition component structure provided by the embodiment of the present invention;

[0036] Figure 9 Schematic diagram of the suction cup structure provided by the embodiment of the present invention.

[0037] In the figure: 1, floating box; 2, equipment box one; 3, equipment box two; 4, floating ring; 5, motor; 6, driving wheel one; 7, sonar recognition component; 701, rotating shaft one; 702, mounting bracket; 703, mounting block; 704, high-frequency sonar detector; 705, medium-frequency sonar detector; 706, low-frequency sonar detector; 707, mounting shaft; 708, fixing bracket one; 709, focal length mirror; 712, driven wheel one; 713, driven wheel two; 8, defoaming component; 801, storage bladder; 802, extrusion plate; 803, connecting column; 804, clamping groove; 805, clamping plate one; 806, mounting disc; 807, spring; 808, bevel gear one; 809, mounting seat; 810, rotating shaft two; 811, bevel gear two; 812, turntable; 813, convex column; 814, limiting frame; 815, connecting rod one; 816, discharge pipe; 817, pressure valve; 9, balance component; 901, floating block; 902, plug-in board; 903, vertical rod; 904, inclined rod; 905, fixing bracket two; 906, clamping plate two; 907, support; 908, connecting rod two; 909, connecting plate; 10, equipment cavity; 11, square through hole; 12, acoustic wave focusing component; 1201, circular groove; 1202, electromagnet; 1203, floating disc; 1204, fixing ring; 1205, isolation net; 1206, counterweight; 1207, suction cup; 13, cavity. Specific embodiments

[0038] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0039] Refer to Figures 1-9, the present invention provides a technical solution: a rotary radar device, including a floating box 1, a floating ring 4 is fixedly installed on the bottom surface of the floating box 1, an equipment box one 2 is fixedly installed on the top surface of the floating box 1, an equipment box two 3 is fixedly installed on the top surface of the equipment box one 2, a cavity 13 is opened inside the floating box 1, two equipment cavities 10 are opened on the top surface of the floating box 1, a square through hole 11 is penetrated through the middle of the floating box 1, a sonar recognition component 7 is arranged inside the equipment box one 2, and an acoustic wave focusing component 12 is arranged on the bottom surface of the floating box 1;

[0040] The sonar recognition component 7 includes a rotating shaft one 701, the rotating shaft one 701 is rotatably installed inside the equipment box one 2, an installation frame 702 is fixedly installed on the outer surface of the sonar recognition component 7, three installation blocks 703 are fixedly installed inside the installation frame 702, the three installation blocks 703 are installed at equal intervals, a high-frequency sonar detector 704, a medium-frequency sonar detector 705 and a low-frequency sonar detector 706 are respectively installed on one side of the three installation blocks 703, and the high-frequency sonar detector 704, the medium-frequency sonar detector 705 and the low-frequency sonar detector 706 are provided for generating sound waves to detect and identify underwater objects;

[0041] A motor 5 is arranged inside the equipment box two 3, the motor 5 is fixedly installed on the top surface of the equipment box one 2, a driving wheel one 6 is fixedly installed at the output end of the motor 5, and a driven wheel one 712 is fixedly installed on the outer surface of the rotating shaft one 701, and the driven wheel one 712 meshes with the driving wheel one 6.

[0042] When performing underwater target recognition and sampling, first place the device on the water surface and determine the sonar frequency to be used according to the depth of the water area. That is, before detecting the target water area, the depth of each position in the target water area should be understood first, and then according to the water depth, determine which frequency of sonar radar detector to use at different positions. If the initial position of the device is in the deeper part of the water area, control the motor 5 to rotate to drive the first driving wheel 6 to engage with the first driven wheel 712, thereby driving the first rotating shaft 701 to rotate, causing the mounting frame 702 to start rotating until the low-frequency sonar detector 706 is parallel to the water surface. Low-frequency sound waves are suitable for deeper water areas, so they can be used for the preliminary recognition of underwater targets. The overall device can be driven to move by the traction of an external towing vessel or other towing equipment. As the device moves, the system will gradually approach the edge of the water area, and the depth of the water area will gradually become shallower. At this time, by controlling the motor 5 to continue rotating, driving the first rotating shaft 701 to rotate, and then switching to use the high-frequency sonar detector 704, the medium-frequency sonar detector 705 or the low-frequency sonar detector 706. These independent detectors can use corresponding frequencies for detection according to the change of the water depth without relying on the existing tunable sonar system. In this way, the system can use sound waves of different frequencies for water areas of different depths to achieve accurate target recognition for depth changes. In this way, the multi-path effect of signals with different frequencies during propagation can be avoided (the signals of the existing tunable sonar system return to the receiver through different paths, making the echo signal no longer simple and increasing the complexity of subsequent data processing), thereby avoiding the complication of the echo signal, reducing the data processing difficulty, and improving the recognition efficiency and accuracy.

[0043] Mounting shafts 707 are rotatably installed on both inner walls of the square through hole 11. A first fixing frame 708 is fixedly installed between the two mounting shafts 707. Three focusing lenses 709 are equidistantly installed inside the first fixing frame 708. The three focusing lenses 709 are a gradient index lens, a spherical lens, and a circular lens respectively.

[0044] During operation, when the installation block 703 rotates, driven by the second driven wheel 713 and the first driven wheel 712, the installation shaft 707 and the first fixing bracket 708 rotate synchronously. When the high-frequency sonar detector 704 is parallel to the water surface, the corresponding focal length lens 709 installed inside the first fixing bracket 708, that is, the gradient index lens, is parallel to the high-frequency sonar detector 704. When the sound wave of the high-frequency sonar detector 704 passes through the gradient index lens and is emitted into the water, it can effectively focus the sound wave emitted by the high-frequency sonar detector 704, enabling the high-frequency sonar detector 704 to enter the water in a more focused manner. When the sound wave detects an object, clearer data can be formed, thus helping to identify underwater targets. Similarly, when the medium-frequency sonar detector 705 and the low-frequency sonar detector 706 rotate to a position parallel to the water surface, the spherical mirror and the circular lens can be respectively located below the medium-frequency sonar detector 705 and the low-frequency sonar detector 706, focusing the sound waves emitted by the medium-frequency sonar detector 705 and the low-frequency sonar detector 706, thereby achieving the purpose of focusing sound waves of different frequencies, making the detected target object clearer, and avoiding the problem that the existing sound waves are dispersed when transmitted into the water, resulting in unclear subsequent images.

[0045] Refer to Figure 8 And Figure 9 As shown in, the sound wave focusing assembly 12 includes a floating disc 1203 and a fixing ring 1204. An isolation net 1205 is installed between the floating disc 1203 and the fixing ring 1204. The sound wave focusing assembly 12 is provided for marking the area where the sound waves emitted by the high-frequency sonar detector 704, the medium-frequency sonar detector 705, and the low-frequency sonar detector 706 are focused and collected. A circular groove 1201 is formed on the bottom surface of the floating box 1, and an electromagnet 1202 is fixedly installed inside the circular groove 1201. An adsorption disc 1207 is fixedly installed on the top surface of the floating disc 1203. The adsorption disc 1207 is adsorbed on the bottom surface of the electromagnet 1202 and is inserted inside the circular groove 1201. A counterweight 1206 is fixedly installed on the bottom surface of the fixing ring 1204.

[0046] During operation, when the floating box 1 is placed in water, the fixing ring 1204 can move downward under the action of the counterweight 1206, causing the isolation net 1205 to fully unfold, realizing the enclosure of the sound wave detection area, further focusing the sound waves, preventing the sound waves from spreading, and also preventing other sundries in the water from blocking and driving during the movement of the floating box 1, preventing other sundries from passing below the sound wave transmission, which is more convenient for detecting underwater sundries and determining the target object.

[0047] After detecting the required target object, the electromagnet 1202 can be controlled to cut off the power. During the process of the electromagnet 1202 cutting off the power, the floating disc 1203 can lose its limit, that is, the fixing ring 1204 can move towards the bottom under the action of the counterweight 1206, and the floating disc 1203 can keep the isolation net 1205 in an open state under the buoyancy until the fixing ring 1204 covers the target object therein, so as to mark the detected target object. During the subsequent sampling process, the position of the target object can be easily identified, which is convenient for the subsequent sampling operation.

[0048] One side surface of the floating block 901 is fixedly installed with a plug-in board 902, and one end of the plug-in board 902 extends below the fixing ring 1204.

[0049] During operation, when the inclined rods 904 move towards each other during the movement of the first clamping plate 805, they can drive the second clamping plate 906 to move towards the edge of the floating box 1 inside the second fixing frame 905, thereby driving the plug-in board 902 away from below the fixing ring 1204, so as to achieve the purpose of automatically releasing the electromagnet 1202.

[0050] Refer to Figures 5-8 , an anti-foaming component 8 is arranged inside the floating box 1. The anti-foaming component 8 includes a storage bag 801. Both sides of the storage bag 801 are provided with extrusion plates 802. The extrusion plates 802 are movably clamped inside the floating box 1. Clamping grooves 804 are formed on both inner walls of the equipment cavity 10. The first clamping plate 805 is movably clamped inside the clamping grooves 804. Both ends of the first clamping plate 805 extend to the extrusion plates 802. A connecting column 803 is fixedly connected between one end of the first clamping plate 805 located at the extrusion plate 802 and the extrusion plate 802. An installation disc 806 is fixedly installed on one side surface of the first clamping plate 805 located inside the equipment cavity 10. A spring 807 is fixedly connected between one side surface of the installation disc 806 and one inner wall of the equipment cavity 10. A limiting frame 814 is fixedly connected to the other side surface of the first clamping plate 805. An installation seat 809 is fixedly installed on one side surface of the equipment cavity 10. A connecting rod one 815 is fixedly connected to one side surface of the first clamping plate 805. A rotating shaft two 810 is rotatably installed inside the installation seat 809. A second bevel gear 811 is fixedly installed at the top of the rotating shaft two 810. A first bevel gear 808 is fixedly installed on the outer surface of the rotating shaft one 701. The first bevel gear 808 meshes with the second bevel gear 811. A turntable 812 is fixedly installed at the bottom surface of the rotating shaft two 810. A convex column 813 is fixedly installed at the bottom surface of the turntable 812. The other end of the connecting rod one 815 is fixedly installed with a limiting frame 814. The convex column 813 is movably clamped inside the limiting frame 814. A discharge pipe 816 is fixedly installed at the bottom surface of the floating box 1. A pressure valve 817 is fixedly installed on the outer surface of the discharge pipe 816.

[0051] During operation, when the rotating shaft 701 rotates, that is, when switching sonars of different frequencies, it can synchronously drive the clamping groove 804 to rotate. When the clamping groove 804 rotates, it can drive the bevel gear II 811 engaged with it to rotate, and then drive the turntable 812 to rotate. When the turntable 812 rotates, it can drive the connecting rod I 815 to move back and forth below the turntable 812 under the action of the limit frame 814, and then drive the clamping plate I 805 to move back and forth inside the clamping groove 804. Since the number of the clamping plates I 805 is two, and the two clamping plates I 805 are connected by the inclined rod 904, the vertical rod 903 and the support 907, when one of the clamping plates I 805 moves, it can synchronously drive the other clamping plate I 805 to move in the opposite direction, so as to drive the two pressing plates 802 to press the storage bladder 801 inside the floating box 1. During the pressing process, the defoaming agent inside the storage bladder 801 can be sprayed through the discharge pipe 816 to the area covered by the isolation net 1205, so as to eliminate the bubbles in the area covered by the isolation net 1205, that is, to eliminate the bubbles in the sound wave transmission area, thereby further improving the sound wave transceiver efficiency, and then improving the quality of the subsequent imaging.

[0052] Moreover, in the above situation, the defoaming agent can be sprayed every time the sound wave frequency is changed, so as to improve the defoaming quality and avoid the generation of bubbles.

[0053] Referring to Figure 5 With Figure 8 , a balance assembly 9 is arranged on the top surface of the floating box 1. The balance assembly 9 includes four vertical rods 903. The four vertical rods 903 are symmetrically installed in pairs on the top surface of the clamping plate I 805. The top ends of the vertical rods 903 are all rotatably installed with inclined rods 904. One ends of the inclined rods 904 are all movably connected inside the support 907. A fixing frame II 905 is fixedly installed on the top surface of the floating box 1. A clamping plate II 906 is movably clamped inside the fixing frame II 905. The support 907 is fixedly installed on the top surface of the clamping plate II 906. A connecting rod II 908 is fixedly installed on one side surface of the clamping plate II 906. One end of the connecting rod II 908 is fixedly installed with a connecting plate 909. A floating block 901 is fixedly installed on the bottom surface of the connecting plate 909.

[0054] During operation, in the actual usage process, when the diagonal rod 904 moves towards each other during the movement on the first clamping plate 805, it can drive the second clamping plate 906 to move towards the edge of the floating box 1 inside the second fixing frame 905, thereby increasing the extension distance of the floating block 901. That is, when replacing sound waves of different frequencies, the floating block 901 can cover a larger area, ensuring the stability of the floating box 1 when replacing sound waves of different frequencies. Moreover, the bottom surface of the floating block 901 is parallel to the bottom surface of the floating ring 4. That is, when the floating box 1 is placed on the water surface, it can provide auxiliary support for the floating box 1. And when the first driving wheel 6 starts, it can extend outwards, making the coverage area of the floating block 901 wider, thereby obtaining a better support effect and ensuring the floating stability of the floating box 1 when the first driving wheel 6 starts.

[0055] A rotary radar identification method includes the following steps:

[0056] S1: First, determine the depths at different positions in the target water area. If the initial position of the device is in the deep water area, first make the low-frequency sonar detector 706 parallel to the water surface. Low-frequency sound waves are suitable for deep water areas to preliminarily identify underwater targets.

[0057] S2: The traction of an external towing boat or other towing equipment can drive the entire device to move. The system will gradually approach the edge of the water area, and the depth of the water area will gradually become shallower. By switching to use the high-frequency sonar detector 704, the medium-frequency sonar detector 705, or the low-frequency sonar detector 706, corresponding frequencies can be used for detection according to the change in the water depth.

[0058] S3: When the high-frequency sonar detector 704 is parallel to the water surface, at this time, the corresponding focusing lens 709 installed inside the first fixing frame 708, that is, the gradient refractive index lens, is parallel to the high-frequency sonar detector 704. When the sound waves of the high-frequency sonar detector 704 pass through the gradient refractive index lens and are emitted into the water, the sound waves emitted by the high-frequency sonar detector 704 are focused. Similarly, during the use of the medium-frequency sonar detector 705 and the low-frequency sonar detector 706, there will also be corresponding focusing lenses 709 to focus the sound waves.

[0059] S4: By controlling the electromagnet 1202 to cut off the power, the floating disk 1203 can be released from the limit, that is, the fixed ring 1204 moves towards the bottom of the water, and the floating disk 1203 can keep the isolation net 1205 in an open state under the buoyancy force, covering the target object therein, and marking the detected target object for subsequent sampling operations.

[0060] S5: When switching sonars of different frequencies, two pressing plates 802 squeeze the storage bladder 801 inside the floating box 1, spraying the defoamer inside the storage bladder 801 through the discharge pipe 816 onto the area covered by the isolation net 1205 to eliminate the bubbles in the area covered by the isolation net 1205.

[0061] Specifically, the working process or working principle of the rotary radar device and its recognition method is as follows: When in use, during the process of recognizing and sampling the underwater objects required, first place the entire device on the water surface. Determine which frequency sonar to use first according to the depth of the recognized water area. If the initial position is in the center of the water area, the motor 5 can be controlled to rotate. When the motor 5 rotates, it can drive the first driving wheel 6 to drive the first driven wheel 712 engaged with it to rotate, thereby driving the first rotating shaft 701 to rotate, and then making the mounting bracket 702 rotate until the low-frequency sonar detector 706 rotates to a position parallel to the water surface. Since short-frequency sound waves are suitable for deeper water areas, the underwater target can then be recognized. As the entire device moves, it will move from the center of the water area towards the edge, that is, as the entire device moves, the depth of the recognized water area will become shallower and shallower. At this time, the motor 5 can be controlled to rotate, driving the first rotating shaft 701 to rotate, so that the high-frequency sonar detector 704, the medium-frequency sonar detector 705, and the low-frequency sonar detector 706 can use different frequency sonar waves when facing water areas of different depths. Using the high-frequency sonar detector 704, the medium-frequency sonar detector 705, and the low-frequency sonar detector 706 to replace the existing frequency-adjustable sonar, thus achieving the purpose of enabling the recognition of different depths to be separately transmitted correspondingly.

[0062] During the rotation of the installation block 703, the driven wheel II 713 and the driven wheel I 712 drive the installation shaft 707 and the fixing frame I 708 to rotate synchronously. When the high-frequency sonar detector 704 is parallel to the water surface, the corresponding focal length lens 709 installed inside the fixing frame I 708, that is, the gradient index lens, is parallel to the high-frequency sonar detector 704. When the sound wave of the high-frequency sonar detector 704 passes through the gradient index lens and is emitted into the water, it can effectively focus the sound wave emitted by the high-frequency sonar detector 704, so that the high-frequency sonar detector 704 can enter the water in a more concentrated manner. When the sound wave detects an object, clearer data can be formed, thus helping to identify underwater targets. Similarly, when the medium-frequency sonar detector 705 and the low-frequency sonar detector 706 rotate to a position parallel to the water surface, the spherical mirror and the circular lens can be respectively located below the medium-frequency sonar detector 705 and the low-frequency sonar detector 706 to focus the sound waves emitted by the medium-frequency sonar detector 705 and the low-frequency sonar detector 706, so as to achieve the purpose of focusing sound waves of different frequencies, making the detected target object clearer. When the floating box 1 is placed in water, the fixing ring 1204 can move downward under the action of the counterweight 1206, so that the isolation net 1205 is fully unfolded to enclose the sound wave detection area, which can further focus the sound waves and prevent the sound waves from spreading. Moreover, during the movement of the floating box 1, it can prevent other sundries in the water from interfering, and can block and drive them to prevent other sundries from passing under the sound wave transmission, which is more convenient for detecting underwater sundries and determining the target object.

[0063] It should be noted that the high-frequency sonar detector 704, the medium-frequency sonar detector 705 and the low-frequency sonar detector 706 are devices or equipment existing in the prior art, or devices or equipment that can be realized by the prior art. Their power supply, specific composition and principle are clear to those skilled in the art, so they will not be described in detail here.

Claims

1. A rotating radar device, comprising a floating box (1), characterized in that: A floating ring (4) is fixedly mounted on the bottom surface of the floating box (1), a device box 1 (2) is fixedly mounted on the top surface of the floating box (1), a device box 2 (3) is fixedly mounted on the top surface of the device box 1 (2), a cavity (13) is provided inside the floating box (1), two device cavities (10) are provided on the top surface of the floating box (1), a square through hole (11) is provided through the middle of the floating box (1), a sonar identification component (7) is provided inside the device box 1 (2), and a sound wave focusing component (12) is provided on the bottom surface of the floating box (1); The sonar identification component (7) comprises a rotating shaft (701) which is rotatably mounted inside the equipment box (2). A mounting frame (702) is fixedly mounted on the outer surface of the sonar identification component (7). Three mounting blocks (703) are fixedly mounted inside the mounting frame (702). The three mounting blocks (703) are equidistantly mounted. A high-frequency sonar detector (704), a medium-frequency sonar detector (705) and a low-frequency sonar detector (706) for generating sound waves to detect and identify underwater objects are respectively mounted on one side of the three mounting blocks (703). A motor (5) is arranged inside the equipment box (3). The motor (5) is fixedly mounted on the top surface of the equipment box (2). A driving wheel (6) is fixedly mounted on the output end of the motor (5). The rotating shaft A driven wheel (712) is fixedly mounted on the outer surface of one (701), and the driven wheel (712) and the driving wheel (6) are meshed with each other. The motor (5) is controlled to rotate to drive the driving wheel (6) and the driven wheel (712) to mesh, thereby driving the rotating shaft (701) to rotate, so that the mounting frame (702) starts to rotate until the low-frequency sonar detector (706) is parallel to the water surface. The low-frequency sound waves are suitable for deeper waters, and can be used for preliminary identification of underwater targets. The motor (5) is controlled to continue to rotate, driving the rotating shaft (701) to rotate, and then switching to use the high-frequency sonar detector (704), the medium-frequency sonar detector (705) or the low-frequency sonar detector (706). These independent detectors can use corresponding frequencies for detection according to changes in the depth of the water area; The acoustic wave focusing component (12) comprises a floating plate (1203) and a fixing ring (1204), an isolation net (1205) being installed between the floating plate (1203) and the fixing ring (1204), and the acoustic wave focusing component (12) is used to gather and mark the area where the acoustic waves emitted by the high-frequency sonar detector (704), the medium-frequency sonar detector (705) and the low-frequency sonar detector (706) are collected.

2. A rotating radar device according to claim 1, characterized in that: The inner walls of both sides of the square through hole (11) are rotatably mounted with mounting shafts (707), a fixing frame 1 (708) is fixedly mounted between the two mounting shafts (707), and three focal lenses (709) are equidistantly mounted inside the fixing frame 1 (708), the three focal lenses (709) are respectively a gradient refractive index lens, a spherical lens and a circular lens. When the mounting block (703) rotates, the driven wheel 2 (713) and the driven wheel 1 (712) drive the mounting shaft (707) and the fixing frame 1 (708) to rotate synchronously. When the high When the high-frequency sonar detector (704) is parallel to the water surface, the corresponding focal length mirror (709) installed inside the fixing frame (708), that is, the gradient refractive index lens, is parallel to the high-frequency sonar detector (704). Similarly, when the medium-frequency sonar detector (705) and the low-frequency sonar detector (706) are rotated to a position parallel to the water surface, the spherical mirror and the circular lens can be respectively located below the medium-frequency sonar detector (705) and the low-frequency sonar detector (706), so as to gather the sound waves emitted by the medium-frequency sonar detector (705) and the low-frequency sonar detector (706).

3. A rotating radar device according to claim 2, characterized in that: The bottom surface of the floating box (1) is provided with a circular groove (1201), an electromagnet (1202) is fixedly installed inside the circular groove (1201), an adsorption disc (1207) is fixedly installed on the top surface of the floating disc (1203), the adsorption disc (1207) is adsorbed on the bottom surface of the electromagnet (1202) and inserted into the inside of the circular groove (1201), and a counterweight (1206) is fixedly installed on the bottom surface of the fixing ring (1204).

4. A rotating radar device according to claim 3, characterized in that: The interior of the floating box (1) is provided with a defoaming component (8), the defoaming component (8) comprising a storage capsule (801), extrusion plates (802) are provided on both sides of the storage capsule (801), the extrusion plates (802) are movably snap-fitted into the interior of the floating box (1), the inner walls on both sides of the equipment cavity (10) are provided with snap-fitting grooves (804), the interior of the snap-fitting grooves (804) is movably snap-fitted with a snap-fitting plate 1 (805), both ends of the snap-fitting plate 1 (805) extend to the extrusion plate (802), one end of the snap-fitting plate 1 (805) located at the extrusion plate (802) is fixedly connected to the extrusion plate (802) with a connecting column (803), and one side surface of the snap-fitting plate 1 (805) is fixedly connected to a connecting rod 1 (815).

5. A rotating radar device according to claim 4, characterized in that: A mounting plate (806) is fixedly mounted on one side surface of the clamping plate 1 (805) located inside the equipment cavity (10); a spring (807) is fixedly connected between one side surface of the mounting plate (806) and one side inner wall of the equipment cavity (10); a limiting frame (814) is fixedly connected to the other side surface of the clamping plate 1 (805); and a mounting seat (809) is fixedly mounted on one side surface of the equipment cavity (10).

6. A rotating radar device according to claim 5, characterized in that: A second rotating shaft (810) is rotatably mounted inside the mounting seat (809), a second bevel gear (811) is fixedly mounted on the top of the second rotating shaft (810), a turntable (812) is fixedly mounted on the bottom surface of the second rotating shaft (810), a boss (813) is fixedly mounted on the bottom surface of the turntable (812), a limit frame (814) is fixedly mounted on the other end of the first connecting rod (815), the boss (813) is movably engaged inside the limit frame (814), a discharge pipe (816) is fixedly mounted on the bottom surface of the floating box (1), and a pressure valve (817) is fixedly mounted on the outer surface of the discharge pipe (816).

7. A rotating radar device according to claim 6, characterized in that: The top surface of the floating box (1) is provided with a balancing assembly (9), the balancing assembly (9) comprising four vertical poles (903), the four vertical poles (903) being symmetrically mounted in pairs on the top surface of the first clamping plate (805), the top ends of the vertical poles (903) being rotatably mounted with inclined rods (904), one end of each inclined rod (904) being movably connected to the inside of a support (907).

8. The rotating radar device according to claim 7, characterized in that: A second fixing frame (905) is fixedly mounted on the top surface of the floating box (1), a second clamping plate (906) is movably clamped inside the second fixing frame (905), the support (907) is fixedly mounted on the top surface of the second clamping plate (906), a second connecting rod (908) is fixedly mounted on one side surface of the second clamping plate (906), a connecting plate (909) is fixedly mounted on one end of the second connecting rod (908), a floating block (901) is fixedly mounted on the bottom surface of the connecting plate (909), a plug-in plate (902) is fixedly mounted on one side surface of the floating block (901), and one end of the plug-in plate (902) extends to the bottom of the fixing ring (1204).

9. A rotating radar identification method, which is applicable to the rotating radar device according to claim 8, characterized in that: The following steps are involved: S1: First, the depth of different positions of the target water area is determined. The initial position of the device is located at the deep water area. First, the low-frequency sonar detector (706) is parallel to the water surface. The low-frequency sound wave is suitable for deep water areas, and the underwater target is preliminarily identified; S2: The device is driven by an external traction device to move as a whole, and gradually approaches the edge of the water area. The depth of the water area gradually becomes shallower. By switching to use a high-frequency sonar detector (704), a medium-frequency sonar detector (705) or a low-frequency sonar detector (706), the corresponding frequencies are used for detection according to the change in the depth of the water area; S3: When the high-frequency sonar detector (704) is parallel to the water surface, the corresponding focal lens (709) installed inside the fixing frame (708) gathers the sound waves emitted by the high-frequency sonar detector (704) through the gradient refractive index lens and into the water. During the use of the intermediate-frequency sonar detector (705) and the low-frequency sonar detector (706), the corresponding focal lens (709) gathers the sound waves. S4: By controlling the electromagnet (1202) to be powered off, the floating disc (1203) loses its limit position, and the fixing ring (1204) moves toward the bottom of the water. Under the buoyancy of the floating disc (1203), the isolation net (1205) is always in an open state, and the target object is covered therein, and the detected target object is marked, so as to facilitate subsequent sampling operations; S5: When switching sonars of different frequencies, the two squeezing plates (802) squeeze the storage capsule (801) inside the floating box (1), and the defoaming agent inside the storage capsule (801) is sprayed to the area covered by the isolation net (1205) through the discharge pipe (816), thereby eliminating bubbles in the area covered by the isolation net (1205).

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