Deep-sea self-unfolding umbrella-shaped array acoustic subsurface buoy and laying method thereof

Abstract

The invention discloses a deep-sea self-unfolding umbrella-shaped array acoustic subsurface buoy and a laying method thereof, and relates to the field of deep-sea underwater acoustic detection.The deep-sea self-unfolding umbrella-shaped array acoustic subsurface buoy comprises an unfolding platform arranged at the top of the acoustic subsurface buoy, a subsurface buoy body located below the unfolding platform and an anchoring structure connected to the lower portion of the subsurface buoy body; the subsurface buoy body comprises an equipment platform arranged below the unfolding platform and a power supply platform arranged below the equipment platform, and the power supply platform is used for carrying power supply equipment to achieve power supply. The problems of folding and autonomous unfolding of an inverted umbrella-shaped acoustic sensor array composed of a large-scale acoustic vertical receiving array and a cross-shaped horizontal receiving array are solved, and integrated laying and high-reliability anchoring mooring of a deep sea acoustic receiving system, an acoustic transmitting system, an underwater acoustic communication system and an energy supply system are achieved.

Description

Technical Field

[0001] The present invention relates to the field of deep - sea underwater acoustic detection, and particularly to a deep - sea self - deploying umbrella - type array acoustic moored buoy and a method for deploying the same. Background Art

[0002] A linear array with multiple hydrophones distributed is a common underwater acoustic detection array. An acoustic vertical receiving array moored buoy is to moor and place a linear array and its receiving system in water at a predetermined depth through components such as a floating body, a cable, an anchor block, a releaser, a shackle, etc. The linear array is in an almost vertical posture under the action of bottom mooring and top buoyancy. During the deployment process, the linear array is gradually deployed and released into the sea water from the cable reel of the deployment ship like a cable. When recovering, the releaser discards the anchor block, and the linear array floats to the sea surface by itself with the floating body and is recovered through the winch of the deployment ship. The linear array can also be directly towed through the winch towing system on a test ship, or can be depth - fixed and towed at the tail of a special tow body; it can also be towed by connecting to a submarine / underwater vehicle. These several towing methods can make the linear array form a single horizontal linear array or an inclined array in water.

[0003] A dipping sonar generally hovers on the sea surface by a mother ship or a helicopter and is put into sea water at a certain depth through a load - bearing cable, and autonomously unfolds an "umbrella" - type sonar array. On the extended arms of the unfolded "umbrella ribs", one or more layers of hydrophone arrays can be horizontally unfolded or folded. A number of transmitting transducer arrays are vertically distributed on the "umbrella rod" and emit and receive sound waves downward facing the seabed to carry out active and passive detection, and its operating depth and detection range are limited.

[0004] In the prior art, there is a lack of an acoustic moored buoy that can be deployed near the deep - sea bottom layer, can autonomously unfold an inverted "umbrella - type" large - scale acoustic sensor array, and can detect underwater targets in an upward - looking state towards the sea surface. There are mainly the following difficulties: on the one hand, multiple acoustic linear arrays need to form horizontal and vertical acoustic detection arrays near the deep - sea bottom layer; on the other hand, it is not convenient to unfold and deploy a large - scale acoustic horizontal receiving array and vertical receiving array on the deck. Even if unfolding and deployment are allowed, they may be entangled or damaged under the action of hydrodynamic forces during the process of sinking and sitting on the bottom. Summary of the Invention

[0005] The purpose of the present invention is to overcome the deficiencies existing in the prior art, and provide a deep - sea self - deploying umbrella - type array acoustic moored buoy and a method for deploying the same, which solve the problems of folding and autonomous unfolding of an "inverted umbrella - type" acoustic sensor array composed of a large - scale acoustic vertical receiving array and a cross - shaped horizontal receiving array, and realize the integrated deployment and highly reliable mooring of a deep - sea acoustic receiving system, an acoustic transmitting system, an underwater acoustic communication system, and an energy supply system.

[0006] The object of the present invention is achieved by the following technical solutions: A deep-sea self-unfolding umbrella-shaped array acoustic mooring buoy, comprising an unfolding platform arranged at the top of the acoustic mooring buoy, a mooring buoy main body located below the unfolding platform, and an anchor system structure connected below the mooring buoy main body. The mooring buoy main body includes an equipment platform arranged below the unfolding platform and a power supply platform arranged below the equipment platform. The power supply platform is used to carry power supply equipment to achieve power supply;

[0007] The equipment platform is used to provide buoyancy for the acoustic mooring buoy. A cable storage cylinder is arranged on the equipment platform for storing the vertical receiving array. A distance adjustment mechanism is arranged above the cable storage cylinder. Horizontal unfolding mechanisms are arranged around the equipment platform. One end of the horizontal unfolding mechanism is rotatably connected to the equipment platform, and the other end is connected to the unfolding platform in a plug-in manner. The horizontal receiving array is fixed on the horizontal unfolding mechanism;

[0008] An first-stage parallel release is arranged on the unfolding platform. A release chain is suspended below the first-stage parallel release. One end of the vertical receiving array is connected to the unfolding platform, and the other end is connected to the distance adjustment mechanism. The distance adjustment mechanism is sleeved on the release chain. By adjusting the distance of the distance adjustment mechanism, the release chain is tightened, so that the unfolding platform and the equipment platform are pressed tightly in the vertical direction. At this time, the horizontal receiving array is folded up, and the acoustic mooring buoy is in the deployment state; when the first-stage parallel release is released, the vertical receiving array is automatically unfolded to a vertical posture, and the release chain is disengaged from the unfolding platform, so that the unfolding platform and the equipment platform are only connected by the vertical receiving array. At the same time, the horizontal unfolding mechanism is disengaged from the unfolding platform, and the horizontal receiving array is unfolded around the equipment platform to form a cross-horizontal posture. The horizontal receiving array and the vertical receiving array form an inverted "umbrella" - shaped structure, and the acoustic mooring buoy is in the working state;

[0009] The anchor system structure includes a mooring rope connected to the bottom of the power supply platform, a second-stage parallel release connected to the lower end of the mooring rope, and a gravity anchor controlled by the second-stage parallel release to be released. When the second-stage parallel release is released, it is disengaged from the gravity anchor, and the gravity anchor is discarded, and the acoustic mooring buoy is in the recovery state.

[0010] As a further technical solution, the horizontal unfolding mechanism includes a horizontal unfolding track arranged around the equipment platform and a horizontal unfolding rod rotatably connected to the horizontal unfolding track. The horizontal receiving array is installed on the horizontal unfolding rod through a horizontal array clamp. Expansion rod inclined columns and expansion rod positioning columns are arranged at intervals on the horizontal unfolding rod. The expansion rod positioning columns are used to vertically fit and insert into the expansion rod clamping rings on the unfolding platform. A pull rope is connected to the horizontal unfolding rod near the expansion rod inclined column, and the pull rope is also connected to a pull rope rod fixed on the equipment platform. The length of the expansion rod inclined column is adjusted by a screw and abuts against the lower part of the pull rope rod, so that when the horizontal receiving array is folded up, the horizontal unfolding rod always maintains an outward inclined posture.

[0011] As a further technical solution, the deployment platform includes a deployment floating body frame. A deployment floating body is installed on the top of the deployment floating body frame. A cavity is provided on the deployment floating body for installing a first-stage parallel release device and a beacon machine. The beacon machine is used to send the position information of the mooring buoy when the mooring buoy main body floats out of the sea surface. The deployment floating body frame is made of a seawater corrosion-resistant metal material to provide support for the deployment floating body. Four legs are provided at the lower part of the deployment floating body frame, and a deployment platform limit tube is provided at the bottom of each leg. Four support arms extend outwards from the four sides of the deployment floating body frame, and a deployment rod snap ring is provided at the end of each support arm for radially and horizontally locking the deployment rod positioning column. A vertically adjustable vertical array pressing plate is provided at the bottom of the deployment floating body frame for pressing the vertical receiving array.

[0012] As a further technical solution, the equipment platform includes an equipment platform frame. Four vertical pipes are correspondingly arranged at the four corners of the equipment platform frame. A number of layered floating blocks are installed inside the equipment platform frame. A floating block pressing plate covers the layered floating blocks. Four deployment platform limit pins are installed on the floating block pressing plate for correspondingly cooperating with the deployment platform limit tubes on the four legs of the deployment floating body frame to limit the horizontal displacement of the deployment platform. A floating block cavity is provided on the layered floating blocks for equipment installation and cable passing. The annular cavity in the middle of the layered floating blocks is a cable storage cylinder. An equipment electronic cabin is installed in the floating block cavity through an equipment pressing plate.

[0013] As a further technical solution, a cage-shaped connecting frame is provided directly above the equipment platform. The lower end of the connecting frame is fixed to the equipment platform frame, and the upper end of the connecting frame is used to connect the distance adjustment mechanism. A transducer transmitting array formed by vertically arranging a number of transducers in a dense manner is installed inside the connecting frame. A recovery rope converging ring is also installed above the connecting frame. The four-claw ropes connected to the four corners of the equipment platform converge at the recovery rope converging ring for hoisting and recovering the mooring buoy main body.

[0014] As a further technical solution, the power supply platform includes a power supply platform frame. Four vertical pipes are also correspondingly arranged at the four corners of the power supply platform frame. The equipment platform and the power supply platform are connected in series as a whole by passing support rods through the four vertical pipes on the equipment platform frame and the power supply platform frame respectively. A battery compartment base and a battery compartment hoop are provided inside the power supply platform frame for installing a plurality of battery compartments.

[0015] As a further technical solution, the pitch adjustment mechanism includes a pitch adjustment screw and a pitch adjustment release ring whose distance relative to the pitch adjustment screw is adjustable, and the pitch adjustment screw and the pitch adjustment release ring are connected by threads to achieve pitch adjustment; the release chain passes through the pitch adjustment release ring, and the release hooks connected to the two ends of the release chain are respectively hung under the first-level parallel releaser; the release chain is tightened by lowering the height of the pitch adjustment release ring, so that the deployment platform and the equipment platform are connected as a whole in the vertical direction; the vertical receiving array is coiled and stored in an annular cable storage drum above the equipment floating platform in a folded state, the upper end of the vertical receiving array is connected to the lower end of the deployment platform, the lower end of the vertical receiving array is connected to the vertical array hanger, and is connected to the electronic cabin through the transfer cable on the vertical array hanger, and the vertical array hanger is connected to the pitch adjustment release ring through a shackle.

[0016] As a further technical solution, both the vertical receiving array and the horizontal receiving array are hydrophone linear arrays with an outer sheath and oil or glue filled inside. The density of both is close to that of water, and they have built-in acoustic sensors. In addition, a depth sensor and an attitude sensor are integrated at the head and tail of the vertical receiving array, and an attitude sensor is also integrated in each horizontal receiving array.

[0017] A method for deploying a deep-sea self-deployable umbrella array acoustic buoy is used to deploy the deep-sea self-deployable umbrella array acoustic buoy, comprising the following steps:

[0018] S1. The mother ship sails at a low speed against the current. The stern hanger of the mother ship uses a decoupling device to place the submerged buoy body into the water. After decoupling, the submerged buoy body floats on the sea surface.

[0019] S2. The mooring rope is deployed into the water. The mother ship hanger uses a dehooking device to deploy the pressure-resistant buoy and the secondary parallel releaser into the water and dehooke them. The mooring rope is connected to the power platform and the pressure-resistant buoy;

[0020] S3. The mother ship hanger uses a dehooking device to put the gravity anchor cloth into the water to dehook it. The gravity anchor is connected to the secondary parallel releaser, so that the submerged buoy body sinks downward under the traction of the gravity anchor;

[0021] S4, the depth sensor and attitude sensor transmit the depth and attitude data of the buoy to the deck. When the transmitted depth and attitude data remain basically unchanged, it indicates that the gravity anchor is on the bottom and the buoy body remains suspended and stable;

[0022] S5. The ship-based deck unit issues a command, the first-level parallel releaser is released, the vertical receiving array is autonomously deployed to a vertical posture, the release chain is disconnected from the deployment platform, the deployment platform floats up and is connected to the equipment platform only through the vertical receiving array, and the horizontal receiving array is deployed relative to the surroundings of the equipment platform;

[0023] S6, the depth sensor and the attitude sensor transmit the depth and attitude data of the buoy to the deck, and use the depth and attitude data to determine the deployment attitude of the buoy. When the buoy is deployed, it enters the working state;

[0024] After the S7 mooring buoy completes its operation, the ship-based deck unit issues an order, and the secondary parallel release device releases. The secondary parallel release device disconnects from the gravity anchor, and the gravity anchor is discarded, entering the recovery state. Each part of the mooring buoy floats to the sea surface, and the beacon machine sends position information to the mother ship, and the mother ship approaches for sectional salvage.

[0025] As a further technical solution, in the above S6, when the pitch angles of the two attitude sensors of the vertical receiving array are close to 90°, the difference between the two depth sensors is close to the length of the vertical receiving array, and at the same time, the pitch angles of the four attitude sensors of the horizontal receiving array are close to 0°, it indicates that the horizontal receiving array and the vertical receiving array form an inverted "umbrella" structure on the seabed, that is, the mooring buoy is fully deployed.

[0026] The beneficial effects of the present invention are as follows:

[0027] 1. The mooring buoy has three states: the deployment state is an integrated structure, realizing rapid deployment on the deck and buffered landing of the gravity anchor; after sitting on the bottom, the primary parallel release device releases, the deployment platform floats up, the vertical receiving array unfolds to a vertical posture, and the horizontal receiving array unfolds horizontally in a cross shape, converting to the working state, which is fast and efficient; in the recovery state, the secondary parallel release device releases and discards the gravity anchor, and each part of the mooring buoy floats to the sea surface, and is recovered sectionally by the mother ship, with the characteristics of safe buffered sitting-on-bottom deployment and highly reliable recovery.

[0028] 2. The integration of the acoustic receiving system, transmitting system, signal processing system, underwater acoustic communication system, energy supply system, deployment mechanism, etc. is realized. The mooring buoy is deployed relatively quickly through the stern hanger, and the inverted umbrella-shaped acoustic detection array is used for active and passive acoustic detection.

[0029] 3. After the primary parallel release device releases, both the vertical receiving array and the horizontal receiving array are autonomously deployed without the need for external force. The umbrella-shaped receiving array formed after deployment can autonomously deploy the upward-looking acoustic mooring buoy facing the sea surface. Multiple sound sources of the system emit synchronously, and multiple spatial nodes cooperate and receive synchronously. Deployed near the deep-sea bottom layer, in the upward-looking state facing the sea surface, it realizes active detection and tracking of targets in a larger range.

[0030] 4. The power platform is located below the equipment platform. Multiple large-capacity battery compartments can be installed in combination with the battery compartment base and battery compartment hoop, which can also play the role of lowering the center of gravity of the mooring buoy and ballasting, helping the mooring buoy to maintain a vertical posture.

[0031] 5. The layered floating blocks are made of deep-sea pressure-resistant buoyancy materials such as glass microspheres, etc., making the whole mooring buoy have positive buoyancy, and the center of buoyancy is above the center of gravity. Description of the Drawings

[0032] Figure 1This is a schematic structural diagram of the subsurface buoy in the deployment (retraction) state in the present invention.

[0033] Figure 2 This is a schematic structural diagram of the subsurface buoy in the working (deployment) state in the present invention.

[0034] Figure 3 This is a schematic structural diagram of the deployment platform in the present invention.

[0035] Figure 4 This is a schematic structural diagram of the equipment platform and the power supply platform in the present invention.

[0036] Explanation of reference numerals in the drawings: deployment platform 1, equipment platform 2, power supply platform 3, mooring rope 4, pressure-resistant floating ball 5, secondary parallel release 6, gravity anchor 7, vertical receiving array 8, vertical array hanger 9, distance-adjusting release loop 10, distance-adjusting sleeve 11, distance-adjusting screw rod 12, vertical array cable storage cylinder 13, horizontal receiving array 14, horizontal deployment rod 15, horizontal array clamp 16, horizontal deployment track 17, deployment rod inclined column 18, deployment rod positioning column 19, pull rope 20, pull rope rod 21, deployment float 1-1, deployment float frame 1-2, primary parallel release 1-3, beacon 1-4, deployment rod snap ring 1-5, deployment platform limit tube 1-6, vertical array pressure plate 1-7, equipment platform frame 2-1, layered floating block 2-2, floating block pressure plate 2-3, deployment platform limit pin 2-4, floating block cavity 2-5, equipment pressure plate 2-6, connecting frame 2-7, transducer transmitting array 2-8, recovery rope convergence ring 2-9, release chain 2-10, release hook 2-11, power supply platform frame 3-1, battery compartment base 3-2, battery compartment clamp 3-3. Detailed implementation manners

[0037] The following will introduce the present invention in detail with reference to the drawings:

[0038] Embodiment: As shown in the attached Figures 1 to 4As shown in the figure, a deep-sea self-unfolding umbrella-shaped array acoustic mooring buoy includes a deployment platform 1, an equipment platform 2, a power supply platform 3, a mooring rope 4, a pressure-resistant float 5, a secondary parallel release device 6, a gravity anchor 7, a vertical receiving array 8, a vertical array hanging member 9, a distance-adjusting release ring 10, a distance-adjusting sleeve 11, a distance-adjusting screw rod 12, a vertical array cable storage cylinder 13, a horizontal receiving array 14, a horizontal deployment rod 15, a horizontal array hoop 16, a horizontal deployment track 17, a deployment rod inclined column 18, a deployment rod positioning column 19, a pull rope 20, a pull rope rod 21, a deployment float 1-1, a deployment float frame 1-2, a primary parallel release device 1-3, a beacon machine 1-4, a deployment rod snap ring 1-5, a deployment platform limit tube 1-6, a vertical array pressure plate 1-7, an equipment platform frame 2-1, a layered float 2-2, a float pressure plate 2-3, a deployment platform limit pin 2-4, a float cavity 2-5, an equipment pressure plate 2-6, a connecting frame 2-7, a transducer transmitting array 2-8, a recovery rope converging ring 2-9, a release chain 2-10, a release hook 2-11, a power supply platform frame 3-1, a battery compartment base 3-2, and a battery compartment hoop 3-3.

[0039] Reference appendix Figure 1 , 2 , this acoustic mooring buoy mainly includes a deployment platform 1, a mooring buoy main body composed of an equipment platform 2 and a power supply platform 3, and an anchor system structure composed of a mooring rope 4, a pressure-resistant float 5, a parallel release device 6, and a gravity anchor 7. Among them, the equipment platform 2 carries acoustic receiving equipment, acoustic transmitting equipment, underwater acoustic communication equipment, and a deployment mechanism, and the power supply platform 3 carries power supply equipment, realizing an integrated design of the mooring buoy, which is convenient for rapid deployment.

[0040] The deployment platform 1 is located at the top of the acoustic mooring buoy, the mooring buoy main body is located below the deployment platform 1, and the anchor system structure is connected below the mooring buoy main body. The mooring buoy main body includes an equipment platform 2 arranged below the deployment platform 1 and a power supply platform 3 arranged below the equipment platform 2. Among them, the equipment platform 2 can provide buoyancy for the acoustic mooring buoy and carry detection equipment (including acoustic receiving equipment, acoustic transmitting equipment, underwater acoustic communication equipment) and a horizontal deployment mechanism. A cable storage cylinder 13 is provided on the equipment platform 2 to store the vertical receiving array 8. A distance-adjusting mechanism is arranged above the cable storage cylinder 13. A horizontal deployment mechanism is also arranged around the equipment platform 2 (i.e., in the four directions of front, back, left, and right). One end of the horizontal deployment mechanism is rotatably connected to the equipment platform 2, and the other end is connected to the deployment platform 1 by a plug-in connection. The horizontal receiving array 14 is fixed on the horizontal deployment mechanism.

[0041] The horizontal deployment mechanism includes horizontal deployment tracks 17 arranged around the equipment platform 2 and horizontal deployment rods 15 rotatably connected to the horizontal deployment tracks 17. The horizontal deployment tracks 17 are in a groove-like structure, which can limit the horizontal displacement of the horizontal deployment rods 15 and provide bottom support for the horizontal deployment rods 15 to lie flat to the horizontal angle. The horizontal receiving array 14 is installed on the horizontal deployment rods 15 through horizontal array clamps 16. Deployment rod inclined columns 18 and deployment rod positioning columns 19 are arranged at intervals on the horizontal deployment rods 15. The deployment rod positioning columns 19 can be vertically sleeved and inserted into the deployment rod snap rings 1-5 on the deployment platform 1. A pull rope 20 is connected near the deployment rod inclined column 18 on the horizontal deployment rod 15, and the pull rope 20 is also connected to a pull rope rod 21 fixed on the equipment platform 2. By adjusting the length of the pull rope 20, when the horizontal deployment rod 15 is deployed to the horizontal posture, the pull rope 20 is just tightened, reducing the vertical bending of the long horizontal deployment rod 15. The length of the deployment rod inclined column 18 is adjusted by a screw and abuts against the lower part of the pull rope rod 21, so that when the horizontal receiving array 14 is retracted, the horizontal deployment rod 15 always maintains an outward inclined posture (i.e., has a tendency to deploy outward), and is folded and retracted around the mooring buoy body.

[0042] Further, as Figure 3 , 4 shown, a primary parallel release 1-3 is provided on the deployment platform 1. A release chain 2-10 is suspended below the primary parallel release 1-3. One end of the vertical receiving array 8 is connected to the deployment platform 1, and the other end is connected to a distance adjustment mechanism. The distance adjustment mechanism is sleeved on the release chain 2-10. By adjusting the distance of the distance adjustment mechanism, the release chain 2-10 is tightened, so that the deployment platform 1 and the equipment platform 2 are pressed tightly in the vertical direction. At this time, the horizontal receiving array 14 is retracted, and the acoustic mooring buoy is in the deployment state. When the primary parallel release 1-3 is released, the vertical receiving array 8 is autonomously deployed to the vertical posture, and the release chain 2-10 is disengaged from the deployment platform 1, so that the deployment platform 1 and the equipment platform 2 are only connected by the vertical receiving array 8. At the same time, the horizontal deployment mechanism is disengaged from the deployment platform 1, and the horizontal receiving array 14 is deployed around the equipment platform 2 in a cross-horizontal posture. The horizontal receiving array 14 and the vertical receiving array 8 form an inverted "umbrella" structure, and the acoustic mooring buoy is in the working state.

[0043] The deployment platform 1 includes a deployment floating body frame 1-2. At the top of the deployment floating body frame 1-2, a deployment floating body 1-1 is installed. The deployment floating body 1-1 is made of deep-sea pressure-resistant buoyancy materials such as glass microspheres, etc., so that the whole deployment platform 1 has positive buoyancy. Multiple cavities are opened on the deployment floating body 1-1 to install the first-stage parallel release device 1-3 and the beacon machine 1-4. The beacon machine 1-4 can send the position information of the mooring buoy when the mooring buoy body floats out of the sea surface. The deployment floating body frame 1-2 is made of metal materials resistant to seawater corrosion, such as titanium alloy, etc., and is welded to provide support for the deployment floating body 1-1. Four legs are provided at the lower part of the deployment floating body frame 1-2, and a deployment platform limit tube 1-6 is provided at the bottom of each leg. Four arms extend outwards from the four sides of the deployment floating body frame 1-2, and a deployment rod snap ring 1-5 is provided at the end of each arm, which can radially and horizontally lock the deployment rod positioning column 19. The deployment rod positioning column 19 is vertically sleeved and inserted into the deployment rod snap ring 1-5, and the lower end is installed on the horizontal deployment track 17 through a pin and can rotate around the pin. A vertically adjustable vertical array pressing plate 1-7 is provided at the bottom of the deployment floating body frame 1-2. The vertical array pressing plate 1-7 is composed of an upper adjustment handle and a lower arc-shaped pressing plate, and the vertical receiving array 8 is pressed by the vertical array pressing plate 1-7 to prevent the vertical receiving array 8 from scattering out of the vertical array cable storage cylinder 13 during the deployment process.

[0044] Refer to Appendix Figure 2 、 3 、4. The equipment platform 2 includes an equipment platform frame 2-1. Four vertical pipes are correspondingly arranged at the four corners of the equipment platform frame 2-1. A number of layered floating blocks 2-2 are installed inside the equipment platform frame 2-1. A floating block pressing plate 2-3 covers the layered floating blocks 2-2. The layered floating blocks 2-2 are made of deep-sea pressure-resistant buoyancy materials such as glass microspheres, etc., so that the whole mooring buoy has positive buoyancy and the center of buoyancy is above the center of gravity. Four deployment platform limit pins 2-4 are installed on the floating block pressing plate 2-3, which can cooperate with the deployment platform limit tubes 1-6 on the four legs of the deployment floating body frame 1-2 one by one to limit the horizontal displacement of the deployment platform 1. Floating block cavities 2-5 are opened on the layered floating blocks 2-2 to facilitate equipment installation and cable threading. The annular cavity in the center of the layered floating block 2-2 is the cable storage cylinder 13. An equipment electronic cabin, such as a receiving cabin, a transmitting cabin, a signal processing cabin, and an underwater acoustic communication cabin, etc., is installed in the floating block cavity 2-5 through an equipment pressing plate 2-6.

[0045] Preferably, a cage-shaped connecting frame 2-7 is provided directly above the equipment platform 2. The lower end of the connecting frame 2-7 is fixed to the equipment platform frame 2-1, and the upper end of the connecting frame 2-7 is used to install an adjustable distance mechanism (adjustable distance screw 12) to connect the first-stage parallel release device 1-3. An array of transducers vertically arranged in a dense manner is installed inside the connecting frame 2-7. A recovery rope converging ring 2-9 is installed above the connecting frame 2-7. Lifting blocks are provided at the four corners of the equipment platform 2, and the four-claw ropes connected to the lifting blocks converge at the recovery rope converging ring 2-9 to facilitate the hoisting and recovery of the mooring buoy body.

[0046] As Figure 4 shown, the power supply platform 3 includes a power supply platform frame 3-1. Four vertical pipes are correspondingly arranged at the four corners of the power supply platform frame 3-1. The equipment platform 2 and the power supply platform 3 are connected in series as a whole by passing support rods through the four vertical pipes on the equipment platform frame 2-1 and the power supply platform frame 3-1. Preferably, the equipment platform frame 2-1 and the power supply platform frame 3-1 are frame structures welded by metal materials resistant to seawater corrosion, such as titanium alloy. A battery compartment base 3-2 and a battery compartment hoop 3-3 are arranged inside the power supply platform frame 3-1, which can install multiple large-capacity battery compartments to achieve power supply, and at the same time play the role of reducing the center of gravity of the moored buoy and ballast, helping the moored buoy to maintain a vertical posture.

[0047] Furthermore, as Figure 1 shown, the mooring structure includes a mooring rope 4 connected to the bottom of the power supply platform 3, a secondary parallel release device 6 connected to the lower end of the mooring rope 4, and a gravity anchor 7 controlled by the secondary parallel release device 6 to be released. When the secondary parallel release device 6 is released, it disengages from the gravity anchor 7, and the gravity anchor 7 is discarded, and the acoustic moored buoy is in the recovery state.

[0048] As Figure 2 、 4 shown, the distance adjustment mechanism includes a distance adjustment screw 12 and a distance adjustment release ring 10 whose distance from the distance adjustment screw 12 is adjustable. The distance adjustment between the distance adjustment screw 12 and the distance adjustment release ring 10 is achieved through threaded connection. The release chain 2-10 passes through the distance adjustment release ring 10, and the release hooks 2-11 connected to both ends of the release chain 2-10 are respectively hung below the primary parallel release device 1-3. By lowering the height of the distance adjustment release ring 10 to tighten the release chain 2-10, the deployment platform 1 and the equipment platform 2 are connected into a whole in the vertical direction. The lower end of the distance adjustment release ring 10 has a right-handed thread, the upper end of the distance adjustment screw 12 has a left-handed thread, and both ends of the distance adjustment sleeve 11 have right and left-handed threads, which can cooperate with the distance adjustment release ring 10 and the distance adjustment screw 12. By only rotating the distance adjustment sleeve 11, the height of the distance adjustment release ring 10 can be adjusted. Preferably, when in the retracted state, the vertical receiving array 8 is coiled and stored in the annular cable storage cylinder 13 above the equipment platform 2. The upper end of the vertical receiving array 8 is connected to the lower end of the deployment platform 1, the lower end of the vertical receiving array 8 is connected to the vertical array hanging part 9, and is connected to the electronic cabin through the transfer cable on the vertical array hanging part 9. The vertical array hanging part 9 is connected to the distance adjustment release ring 10 through a shackle.

[0049] Both the vertical receiving array 8 and the horizontal receiving array 14 are hydrophone linear arrays with an outer sheath and oil or glue filled inside. The density of both is close to that of water, and they are equipped with built-in acoustic sensors. In addition, a depth sensor and a posture sensor are integrated at the head and tail of the vertical receiving array 8, and a posture sensor is integrated in each horizontal receiving array 14. The posture and depth data transmitted back to the mother ship through hydroacoustic communication are used to judge the depth of the buoy and the deployment posture of the receiving array.

[0050] Embodiment 2: A method for deploying a deep-sea self-deployable umbrella array acoustic buoy is used to deploy the deep-sea self-deployable umbrella array acoustic buoy in Embodiment 1, comprising the following steps:

[0051] S1. The mother ship sails at a low speed against the current. The stern hanger of the mother ship uses a decoupling device to place the submerged buoy body into the water. After decoupling, the submerged buoy body floats on the sea surface.

[0052] S2, the mooring rope 4 is deployed into the water, and the mother ship hanger uses a dehooking device to deploy the pressure-resistant buoy 5 and the secondary parallel releaser 6 into the water and dehooke them, and the mooring rope 4 is connected to the power platform 3 and the pressure-resistant buoy 5;

[0053] S3, the mother ship hanger uses the unhooking device to put the gravity anchor 7 into the water and unhook it, and the gravity anchor 7 is connected to the secondary parallel releaser 6, so that the submerged buoy body sinks downward under the traction of the gravity anchor 7;

[0054] S4, using an underwater acoustic communication machine (equipment) to transmit the depth and attitude data of the buoy obtained by the depth sensor and the attitude sensor back to the deck. When the returned depth and attitude data remain basically unchanged, it indicates that the gravity anchor 7 is seated on the bottom and the buoy body remains suspended and stable;

[0055] S5. The ship-based deck unit issues a command, the first-level parallel releaser 1-3 is released, the vertical receiving array 8 is autonomously deployed to a vertical posture, the release chain 2-10 is disconnected from the deployment platform 1, the deployment platform 1 floats up and is connected to the equipment platform 2 only through the vertical receiving array 8, and at the same time the horizontal receiving array 14 is deployed relative to the surroundings of the equipment platform 2;

[0056] S6. Use an underwater acoustic communication machine (equipment) to transmit the buoy depth and attitude data obtained by the depth sensor and attitude sensor back to the deck, and use the depth and attitude data to determine the deployment attitude of the buoy. Further, when the pitch angles of the two attitude sensors of the vertical receiving array 8 are close to 90°, the difference between the two depth sensors is close to the length of the vertical receiving array 8, and the pitch angles of the four attitude sensors of the horizontal receiving array 14 are close to 0°, it indicates that the horizontal receiving array 14 and the vertical receiving array 8 form an inverted "umbrella" structure on the seabed, that is, the buoy is fully deployed. When the buoy is fully deployed, it enters the working state;

[0057] S7. After the submerged buoy work is completed, the ship-based deck unit issues a command, the secondary parallel releaser 6 is released, the secondary parallel releaser 6 is disconnected from the gravity anchor 7, the gravity anchor 7 is abandoned, and the recovery state is entered. The various parts of the submerged buoy float to the sea surface, and the beacon 1-4 sends the position information to the mother ship, and the mother ship approaches to salvage the sections.

[0058] Working process of the present invention:

[0059] After the gravity anchor 7 is seated on the bottom of the deep sea, the releaser deck unit commands the first-stage parallel releaser 1-3 on the deployment platform 1 to be released, the deployment platform 1 is unhooked, floats up under the action of its own buoyancy, and pulls out the vertical receiving array 8 of the cable storage drum 13 to a vertical posture. At the same time, the deployment rod clamp 1-5 unlocks the horizontal deployment rod 15 gathered around the buoy. Under the action of its own gravity, the horizontal deployment rod 15 in an inclined and unstable posture rotates around the pin shaft of the horizontal deployment track 14 until it lies flat on the horizontal deployment track 14 and is deployed around the buoy in a cross horizontal posture. The horizontal receiving array 14 and the vertical receiving array 8 form an inverted "umbrella" type structure.

[0060] After the buoy completes the underwater target detection mission, the releaser deck unit commands the secondary releaser 6 to jettison the gravity anchor 7, and the buoy changes to a recovery state. Each part of the buoy floats to the sea surface and is recovered in turn by the mother ship.

[0061] The present invention discloses a deep-sea self-deployable umbrella-type acoustic buoy, which has two structural forms of folding and unfolding. The acoustic buoy realizes the integration of acoustic receiving system, transmitting system, signal processing system, hydroacoustic communication system, power supply system, etc. It is deployed in the folded state. After the anchor is seated on the bottom, the ship-based deck unit commands the releaser on the deployment platform to unhook, and the deployment platform is released and floated up, and the vertical receiving array stored in the cable storage drum is pulled out to a vertical posture. At the same time, the horizontal receiving array in the folded state is unfolded to a cross horizontal posture around the main body of the buoy, and the two form an inverted "umbrella" type receiving array. The posture and depth data of the receiving array are transmitted back by the acoustic communication machine to judge the deployment posture. The buoy is deployed near the bottom of the deep sea, and the active and passive detection of hydroacoustic targets is realized in the upward state. After completing the detection task, the ship-based deck unit commands the anchor releaser to unhook and abandon the gravity anchor, and the buoy immediately floats to the sea surface, and the mother ship salvages it in sections. The present invention realizes the integrated integration, autonomous deployment and high-reliability deployment and recovery of the deep-sea umbrella-type autonomous transceiver acoustic buoy, and is a new type of acoustic target detection equipment.

[0062] It is understandable that, for those skilled in the art, any equivalent replacement or change to the technical solution and inventive concept of the present invention should fall within the protection scope of the claims attached to the present invention.

Claims

1. A deep-sea self-deployable umbrella array acoustic buoy, characterized by: The acoustic buoy comprises a deployment platform (1) arranged on the top of the acoustic buoy, a buoy body located below the deployment platform (1), and an anchoring structure connected below the buoy body, wherein the buoy body comprises an equipment platform (2) arranged below the deployment platform (1) and a power supply platform (3) arranged below the equipment platform (2), and the power supply platform (3) is used to carry a power supply device to realize power supply; The equipment platform (2) is used to provide buoyancy for the acoustic buoy. A cable storage drum (13) is provided on the equipment platform (2) for storing the vertical receiving array (8). A distance adjustment mechanism is provided above the cable storage drum (13). A horizontal deployment mechanism is provided around the equipment platform (2). One end of the horizontal deployment mechanism is rotatably connected to the equipment platform (2), and the other end is connected to the deployment platform (1) in a latch-type manner. The horizontal receiving array (14) is fixed on the horizontal deployment mechanism. A first-level parallel releaser (1-3) is provided on the deployment platform (1), a release chain (2-10) is suspended below the first-level parallel releaser (1-3), one end of the vertical receiving array (8) is connected to the deployment platform (1), and the other end is connected to the distance adjustment mechanism, the distance adjustment mechanism is sleeved on the release chain (2-10), and the release chain (2-10) is tightened by adjusting the spacing of the distance adjustment mechanism, so that the deployment platform (1) and the equipment platform (2) are compressed in the vertical direction, and at this time, the horizontal receiving array (14) is folded, and the acoustic buoy is in a deployed state. When the first-stage parallel releaser (1-3) is released, the vertical receiving array (8) is automatically deployed to a vertical posture, and the release chain (2-10) is disconnected from the deployment platform (1), so that the deployment platform (1) and the equipment platform (2) are connected only through the vertical receiving array (8). At the same time, the horizontal deployment mechanism is disconnected from the deployment platform (1), and the horizontal receiving array (14) is deployed relative to the equipment platform (2) to form a cross-shaped horizontal posture. The horizontal receiving array (14) and the vertical receiving array (8) form an inverted "umbrella" structure, and the acoustic buoy is in a working state; The anchoring structure comprises a mooring rope (4) connected to the bottom of the power platform (3), a secondary parallel releaser (6) connected to the lower end of the mooring rope (4), and a gravity anchor (7) whose release is controlled by the secondary parallel releaser (6). When the secondary parallel releaser (6) is released, it is detached from the gravity anchor (7), the gravity anchor (7) is abandoned, and the acoustic buoy is in a recovery state.

2. The deep-sea self-deployable umbrella array acoustic buoy according to claim 1, characterized in that: The horizontal deployment mechanism comprises a horizontal deployment track (17) arranged around the equipment platform (2) and a horizontal deployment rod (15) rotatably connected to the horizontal deployment track (17); the horizontal receiving array (14) is installed on the horizontal deployment rod (15) through a horizontal array clamp (16); deployment rod tilting columns (18) and deployment rod positioning columns (19) are arranged on the horizontal deployment rod (15) at intervals; the deployment rod positioning columns (19) are used to vertically fit into the deployment rod clamp (1-5) on the deployment platform (1); a pull rope (20) is connected to the horizontal deployment rod (15) near the deployment rod tilting column (18); the pull rope (20) is connected to a pull rope rod (21) fixed on the equipment platform (2); the deployment rod tilting column (18) is adjusted in length by a screw rod and supports the bottom of the pull rope rod (21), so that when the horizontal receiving array (14) is folded, the horizontal deployment rod (15) always maintains an outward tilting posture.

3. The deep-sea self-deployable umbrella array acoustic buoy according to claim 2 is characterized by: The deployment platform (1) comprises a deployment buoy frame (1-2), a deployment buoy (1-1) is installed on the top of the deployment buoy frame (1-2), a cavity is provided on the deployment buoy (1-1) for installing a first-level parallel releaser (1-3) and a beacon (1-4), and the beacon (1-4) is used to send the location information of the buoy when the buoy body floats out of the sea surface; the deployment buoy frame (1-2) provides support for the deployment buoy (1-1), four legs are arranged at the bottom of the deployment buoy frame (1-2), and a deployment platform limiting tube (1-6) is arranged at the bottom of each leg; a support arm is extended outward from each side of the deployment buoy frame (1-2), and a deployment rod clamp (1-5) is arranged at the end of each support arm for radially and horizontally locking the deployment rod positioning column (19); a vertical array pressure plate (1-7) is arranged at the bottom of the deployment buoy frame (1-2) and can be adjusted up and down, and is used to press the vertical receiving array (8).

4. The deep-sea self-deployable umbrella array acoustic buoy according to claim 3 is characterized by: The equipment platform (2) comprises an equipment platform frame (2-1), four vertical pipes are correspondingly arranged at the four corners of the equipment platform frame (2-1), a plurality of layered floating blocks (2-2) are installed in the equipment platform frame (2-1), a floating block pressure plate (2-3) covers the layered floating blocks (2-2), four deployment platform limit pins (2-4) are installed on the floating block pressure plate (2-3), and are used to cooperate with the deployment platform limit pipes (1-6) on the four legs of the deployment floating frame (1-2) in a one-to-one manner to limit the horizontal displacement of the deployment platform (1); a floating block cavity (2-5) is opened on the layered floating block (2-2) for equipment installation and cable threading, wherein the annular cavity located in the middle of the layered floating block (2-2) is a cable storage drum (13), and an equipment electronic cabin is installed in the floating block cavity (2-5) through the equipment pressure plate (2-6).

5. The deep-sea self-deployable umbrella array acoustic buoy according to claim 1, characterized in that: A cage-shaped connecting frame (2-7) is provided directly above the equipment platform (2), the lower end of the connecting frame (2-7) is fixed to the equipment platform frame (2-1), the upper end of the connecting frame (2-7) is used to connect to the distance adjustment mechanism, and a transducer transmitting array (2-8) composed of a plurality of transducers arranged vertically and closely is installed inside the connecting frame (2-7); a recovery rope convergence ring (2-9) is also installed above the connecting frame (2-7), and the four-claw ropes connected to the four corners of the equipment platform (2) converge at the recovery rope convergence ring (2-9) for hoisting and recovering the buoy body.

6. The deep-sea self-deployable umbrella array acoustic buoy according to claim 4, characterized in that: The power platform (3) comprises a power platform frame (3-1), and four vertical pipes are correspondingly arranged at the four corners of the power platform frame (3-1). The equipment platform (2-1) and the power platform frame (3-1) are connected in series with each other through support rods passing through the four vertical pipes on the equipment platform frame (2-1) and the power platform frame (3-1). A battery compartment base (3-2) and a battery compartment clamp (3-3) are arranged in the power platform frame (3-1) for installing multiple battery compartments.

7. The deep-sea self-deployable umbrella array acoustic buoy according to claim 1, characterized in that: The pitch adjustment mechanism comprises a pitch adjustment screw (12) and a pitch adjustment release ring (10) whose distance relative to the pitch adjustment screw (12) is adjustable. The pitch adjustment screw (12) and the pitch adjustment release ring (10) are connected by threads to achieve pitch adjustment. A release chain (2-10) passes through the pitch adjustment release ring (10), and release hooks (2-11) connected to both ends of the release chain (2-10) are respectively hung below the primary parallel releaser (1-3). The release chain (2-10) is tightened by lowering the height of the pitch adjustment release ring (10) to adjust the pitch. The deployment platform (1) and the equipment platform (2) are connected to form a whole in the vertical direction; the vertical receiving array (8) is coiled and stored in a circular cable storage drum (13) above the equipment platform (2) in a folded state; the upper end of the vertical receiving array (8) is connected to the lower end of the deployment platform (1); the lower end of the vertical receiving array (8) is connected to a vertical array hanger (9), and is connected to an electronic cabin via a transfer cable on the vertical array hanger (9); the vertical array hanger (9) is connected to a distance adjustment release ring (10) via a shackle.

8. The deep-sea self-deployable umbrella array acoustic buoy according to claim 1, characterized in that: The vertical receiving array (8) and the horizontal receiving array (14) are both hydrophone linear arrays with an outer sheath and oil or glue filled inside, and both have a density close to that of water and are equipped with built-in acoustic sensors. In addition, a depth sensor and a posture sensor are integrated at the head and tail of the vertical receiving array (8), and a posture sensor is integrated in each horizontal receiving array (14).

9. A method for deploying a deep-sea self-deployable umbrella array acoustic buoy, used for deploying a deep-sea self-deployable umbrella array acoustic buoy as claimed in any one of claims 1 to 8, characterized in that: The following steps are involved: S1, the mother ship sails at a low speed against the current, and the stern hanger of the mother ship uses a decoupling device to place the submerged buoy body and the deployment platform (1) pressed on the submerged buoy body into the water, and after being decoupled, the submerged buoy body floats on the sea surface; S2, deploying the mooring rope (4) into the water, the mother ship hanger uses a decoupling device to deploy the pressure-resistant buoy (5) and the secondary parallel releaser (6) into the water and decoupling them, and the mooring rope (4) is connected to the power platform (3) and the pressure-resistant buoy (5); S3, the mother ship hanger uses a dehooking device to place the gravity anchor (7) into the water to dehook it, and the gravity anchor (7) is connected to the secondary parallel releaser (6), so that the submerged buoy body sinks downward under the traction of the gravity anchor (7); S4, the depth sensor and the attitude sensor transmit the depth and attitude of the buoy to the deck. When the transmitted depth and attitude data remain basically unchanged, it indicates that the gravity anchor (7) is on the bottom and the buoy body remains suspended and stable; S5. A command is issued by the ship-based deck unit, and the first-level parallel releaser (1-3) is released, the vertical receiving array (8) is autonomously deployed to a vertical posture, the release chain (2-10) is disconnected from the deployment platform (1), the deployment platform (1) floats up and is connected to the equipment platform (2) only through the vertical receiving array (8), and at the same time the horizontal receiving array (14) is deployed relative to the equipment platform (2) around; S6, the depth sensor and attitude sensor transmit the depth and attitude of the buoy to the deck, and use the depth and attitude data to determine the deployment attitude of the buoy. When the buoy is deployed, it enters the working state; S7. After the buoy work is completed, the ship-based deck unit issues a command to release the secondary parallel releaser (6), which is then disconnected from the gravity anchor (7). The gravity anchor (7) is discarded and enters the recovery state. The various parts of the buoy float to the sea surface, and the beacon (1-4) sends position information to the mother ship, which then approaches to salvage the sections.

10. The method for deploying a deep-sea self-deployable umbrella array acoustic buoy according to claim 9, characterized in that: In S6, when the pitch angles of the two attitude sensors of the vertical receiving array (8) are close to 90°, the difference between the two depth sensors is close to the length of the vertical receiving array (8), and at the same time, the pitch angles of the four attitude sensors of the horizontal receiving array (14) are close to 0°, it indicates that the horizontal receiving array (14) and the vertical receiving array (8) form an inverted "umbrella" structure on the seabed, that is, the buoy is fully deployed.

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