Warning device and warning method for deep-sea unmanned platform

Abstract

The invention discloses a warning device and warning method for a deep-sea unmanned platform, and relates to the technical field of underwater unmanned platform safety monitoring. The problems that an existing underwater warning device is high in power consumption, poor in environmental adaptability and high in cost are solved. The system comprises a mechanical scanning sonar, an alert transducer and an alert control cabin, the mechanical scanning sonar, the alert transducer and the alert control cabin are installed on an underwater unmanned platform, and the mechanical scanning sonar scans dynamic information of suspicious targets around the underwater unmanned platform and converts the dynamic information into sonar data. The mechanical scanning sonar transmits sonar data to the alert control cabin, the alert control cabin processes the data, and the alert control cabin controls the alert transducer in a grading mode based on the processed data so that the alert transducer can emit alert signals of different grades to warn or expel suspicious targets. The method is mainly used for warning of underwater suspicious targets.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater unmanned platform safety monitoring, and particularly to a warning device and a warning method for a deep-sea unmanned platform, which are applicable to the active safety protection of deep-sea unmanned platforms such as marine scientific research and oil and gas platforms. Background Art

[0002] In the technical field of underwater unmanned platform safety monitoring, with the in-depth exploration and development of marine resources, underwater unmanned platforms (including subsea observation stations, oil and gas collection equipment, etc.) are facing increasingly severe safety threats. To prevent risks such as illegal detection equipment intrusion, biological collision, and equipment interference, it is urgent to build an underwater reconnaissance and warning system with real-time monitoring, evidence retention, and active defense capabilities. Due to the characteristics of high pressure, low light, and complex terrain in the deep-sea environment, traditional optical monitoring means have visibility limitations, and radio communication is restricted by the water body attenuation effect, which makes underwater acoustic sensing technology an essential means to ensure the safety of underwater unmanned platforms.

[0003] In the prior art, the patent "A land, water, and air three-dimensional security warning system for key waterside areas" proposes a three-level defense system based on fixed sentries, mobile sentries, and moving sentries. Although this system realizes multi-domain joint monitoring, deploying multiple types of acoustic nodes results in too high construction costs. The literature "The Establishment of Intelligent Detection Method and Monitoring System for Underwater Target Based on Imaging Sonar" reveals the security applications of multi-beam imaging sonar, but its full-time imaging working mode will generate a significant energy consumption burden. In addition, the patent "A low-power acousto-optic composite detection device for nearshore security" reduces the false alarm rate through acousto-optic composite detection, and it pays attention to the low-power requirement. However, due to the deficiencies of optical components in the deep-sea low-light environment, its working mode has functional defects and limited detection range.

[0004] It should be particularly pointed out that currently, deep-sea unmanned platforms generally use battery packs with limited capacity for power supply, and the maintenance cycle of subsea equipment is as long as several months. If the existing security systems are directly transplanted to deep-sea application scenarios, they will face three technical contradictions: the contradiction between multi-node layout and limited power supply, the contradiction between the demand for full-time monitoring and the intermittency of energy supply, and the contradiction between equipment complexity and difficult subsea maintenance. Therefore, it is urgent to develop a deep-sea dedicated warning device with low-power characteristics, high environmental adaptability, and low-cost advantages. Summary of the Invention

[0005] In view of this, the present invention provides a warning device and a warning method for a deep - sea unmanned platform, which can make a classification warning decision based on the dynamic information of suspicious targets and can warn or drive away suspicious targets.

[0006] To solve the above - mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0007] A warning device for a deep - sea unmanned platform, comprising a mechanical scanning sonar, a warning transducer and a warning control cabin. The mechanical scanning sonar, the warning transducer and the warning control cabin are installed on an underwater unmanned platform. The mechanical scanning sonar scans the dynamic information of suspicious targets around the underwater unmanned platform and converts it into sonar data. The mechanical scanning sonar transmits the sonar data to the warning control cabin, and the warning control cabin processes the data. The warning control cabin controls the warning transducer in a hierarchical manner based on the processed data, so that the warning transducer emits warning signals at different levels to warn or drive away suspicious targets.

[0008] Further, the warning control cabin includes an industrial control computer and a transducer control board. The mechanical scanning sonar is electrically connected to the industrial control computer, the industrial control computer is electrically connected to the transducer control board, and the transducer control board is electrically connected to the warning transducer.

[0009] Further, an external control platform is provided on the underwater unmanned platform. The external control platform includes an external power supply. The warning control cabin further includes a power management circuit board. The power management circuit board is connected to the external power supply. The external power supply is connected to the power management circuit board and supplies power to the industrial control computer, the transducer control board, the mechanical scanning sonar and the warning transducer via the power management circuit board. The power management circuit board performs power management on the mechanical scanning sonar and the warning transducer.

[0010] Further, the external control platform further includes an information interaction device. The industrial control computer is connected to the information interaction device and transmits the processed data to the information interaction device for storage.

[0011] Further, the warning control cabin is connected to the mechanical scanning sonar, the warning transducer and the external control platform via waterproof plugs.

[0012] Another technical solution adopted by the present invention is:

[0013] A warning method for a deep - sea unmanned platform, which is implemented by using the warning device of the deep - sea unmanned platform. The warning process includes the following steps:

[0014] S1, the mechanical scanning sonar performs dynamic scanning on the surrounding environment of the underwater unmanned platform. The mechanical scanning sonar obtains the dynamic information of suspicious targets around the underwater unmanned platform and converts it into sonar data, and transmits the sonar data to the warning control cabin;

[0015] S2. The warning control cabin processes the sonar data of the mechanical scanning sonar and determines whether there is a suspicious target within the warning radius of the underwater unmanned platform. If there is a suspicious target, proceed to step S3;

[0016] S3. The warning control cabin makes a hierarchical warning decision based on the threat distance and movement trajectory of the suspicious target, and controls the warning transducer to emit warning signals at different levels to warn or drive away the suspicious target.

[0017] Further, the hierarchical warning decision in S3 is as follows:

[0018] When the suspicious target is between the warning radius and the driving radius and its moving speed is greater than the set threshold, the warning control cabin controls the warning transducer to emit a first-level warning signal. This first-level warning signal is a broadcast response signal with a signal length of 24 ms, and a warning signal is sent every 5 s. When the suspicious target enters the driving radius and continuously approaches the underwater unmanned platform, the warning control cabin controls the warning transducer to emit a second-level driving signal. The second-level driving signal is a communication signal with a signal length of 4 s, and a driving signal is sent every 1 s.

[0019] Further, with the underwater unmanned platform as the center, the range radiating outward 50 m to 100 m is the warning radius.

[0020] Further, with the underwater unmanned platform as the center, the range radiating outward within 50 m is the driving radius.

[0021] The beneficial effects of the present invention compared with the prior art are:

[0022] 1. The warning device of the present invention integrates acoustic perception, hierarchical decision-making, and active warning functions, and can achieve all-weather safety protection for deep-sea unmanned platforms. Among them, the hierarchical decision-making function enables the warning device to dynamically adjust the working mode of the mechanical scanning sonar according to the actual monitoring situation, can reduce energy consumption and energy distribution when there is no target threat, and only starts the continuous high-energy-consuming monitoring and warning functions when necessary, avoiding energy consumption in non-necessary situations, thus adapting to the intermittency of energy supply and meeting the full-time monitoring requirements.

[0023] 2. The present invention can power the mechanical scanning sonar, the warning transducer, and the warning control cabin through the power supply device on the underwater unmanned platform or by equipping a battery compartment on the underwater unmanned platform, solving the power supply problem during multi-node layout and breaking through the limitation of limited power supply. At the same time, the external power supply powers the industrial control computer, the transducer control board, the mechanical scanning sonar, and the warning transducer via the power management circuit board. The power management circuit board can ensure stable power supply and effective power management for the mechanical scanning sonar and the warning transducer, making the overall power consumption of the warning device of the present invention much lower than that of the existing warning system using image sonar. In this way, even when the warning device is used for underwater multi-node layout, the long-term stable operation of the entire system can still be guaranteed, effectively alleviating the contradiction between multi-node layout and limited power supply. Description of the Drawings

[0024] The drawings, as part of this application, are used to provide a further understanding of the present invention.

[0025] Figure 1 It is a schematic structural diagram of a warning device for a deep-sea unmanned platform of the present invention.

[0026] Figure 2 It is a schematic structural diagram of the warning control cabin.

[0027] Figure 3 It is a schematic diagram of the control relationship between the warning control cabin, the mechanical scanning sonar, and the warning transducer.

[0028] Figure 4 It is a design concept diagram of the power management of the power management circuit board.

[0029] Figure 5 It is a schematic structural diagram of the mechanical scanning sonar.

[0030] Figure 6 It is a schematic structural diagram of the warning transducer.

[0031] Description of the reference numerals in the drawings: 1 - mechanical scanning sonar; 2 - warning transducer; 3 - warning control cabin; 31 - sealed cabin shell; 32 - 16-core male plug, 33 - 8-core male plug; 34 - 4-core male plug; 35 - industrial control computer; 36 - transducer control board; 37 - power management circuit board; 4 - underwater unmanned platform; 5 - external control platform. Detailed Embodiment

[0032] The following provides a detailed description of the present invention in combination with the drawings and specific embodiments.

[0033] Figure 1 A schematic structural diagram of a warning device for a deep-sea unmanned platform of the present invention is shown, as Figure 1As shown in the figure, the warning device of this embodiment includes a mechanical scanning sonar 1 with acoustic perception function, a warning transducer 2 with active warning function, and a warning control cabin 3 for hierarchical decision-making. There are two mechanical scanning sonars 1, and these two mechanical scanning sonars 1 are installed above the underwater unmanned platform 4 and in an unobstructed area. It can achieve 360° planar dynamic scanning with the underwater unmanned platform 4 as the center, and convert the environmental information around the underwater unmanned platform 4 into sonar data, serving as the acoustic perception core unit of the warning device. There are also two warning transducers 2, and these two warning transducers 2 are fixedly installed in the unobstructed area of the underwater unmanned platform 4 through a preset inclination angle. When the warning condition is triggered, it can respond to the acoustic signals required for hierarchical warning decisions and undertake the active warning function. An external control platform 5 integrated with an external power supply and information interaction equipment is set on the underwater unmanned platform 4. The external power supply can be a direct power supply or a battery compartment, and the external power supply can supply power to the mechanical scanning sonar 1, the warning transducer 2, and the warning control cabin 3. The information interaction equipment is used to receive and save the information data transmitted from the warning control cabin 3. The warning control cabin 3 is installed on the loading platform of the underwater unmanned platform 4. The warning control cabin 3 is respectively connected to the mechanical scanning sonar 1, the warning transducer 2, and the external control platform 5 through watertight connectors. The mechanical scanning sonar 1 transmits the sonar data to the warning control cabin 3 in real time through the watertight connector for processing. The warning control cabin 3 hierarchically controls the warning transducer 2 based on the sonar data transmitted from the mechanical scanning sonar 1, so that the warning transducer 2 emits warning signals at different levels to warn or drive away suspicious targets, and at the same time transmits the processed data to the external control platform 5 for storage.

[0034] Specifically, as Figure 2 shown, the warning control cabin 3 of this embodiment includes a sealed cabin shell 31 and multiple watertight interfaces. The watertight interfaces are a 16-core male plug 32, an 8-core male plug 33, and a 4-core male plug 34 respectively. The 16-core male plug 32, the 8-core male plug 33, and the 4-core male plug 34 are installed on the sealed cabin shell 31. The external control platform 5 is provided with a 16-core female socket adapted to the 16-core male plug 32. The warning control cabin 3 and the external control platform 5 are electrically connected through the insertion of the 16-core male plug 32 and the 16-core female socket; as Figure 5 shown, the mechanical scanning sonar 1 is provided with an 8-core female socket adapted to the 8-core male plug 33. The warning control cabin 3 and the mechanical scanning sonar 1 are electrically connected through the insertion of the 8-core male plug 33 and the 8-core female socket; as Figure 6 shown, the warning transducer 2 is provided with a 4-core female socket adapted to the 4-core male plug 34. The warning control cabin 3 and the warning transducer 2 are electrically connected through the insertion of the 4-core male plug 34 and the 4-core female socket. As Figure 3As shown in the figure, the warning control cabin 3 of this embodiment further includes an industrial control computer 35, two transducer control boards 36, and a power management circuit board 37. The industrial control computer 35, the two transducer control boards 36, and the power management circuit board 37 are arranged inside the sealed cabin shell 31. The industrial control computer 35 is electrically connected to a 16-pin male plug 32, an 8-pin male plug 33, and the two transducer control boards 36 respectively. The industrial control computer 35 is connected to an external control platform 5 via the 16-pin male plug 32 and a 16-pin female socket to realize data transmission. The industrial control computer 35 is electrically connected to the mechanical scanning sonar 1 via the 8-pin male plug 33 and an 8-pin female socket, so that the mechanical scanning sonar 1 can transmit sonar data to the industrial control computer 35. The industrial control computer 35 processes the sonar data and determines whether there is a suspicious target within the warning radius of the underwater unmanned platform 4. If there is a suspicious target, a hierarchical warning decision is made according to the dynamic information of the suspicious target. The industrial control computer 35 transmits the made hierarchical warning decision to the transducer control board 36. The transducer control board 36 is electrically connected to a 4-pin male plug 34, so that the transducer control board 36 can control the warning transducer 2 to emit warning signals of different levels via the 4-pin male plug 34 and a 4-pin female socket to warn or drive away suspicious targets.

[0035] As Figure 3 shown in the figure, the power management circuit board 37 of this embodiment is electrically connected to the 16-pin male plug 32, the 8-pin male plug 33, the 4-pin male plug 34, the industrial control computer 35, and the two transducer control boards 36 respectively. The power management circuit board 37 is connected to the external control platform 5 via the 16-pin male plug 32 and a 16-pin female socket. The external power supply in the external control platform 5 is connected to the 16-pin female socket, thereby realizing power transmission. Designed in this way, the battery can be avoided being set inside the warning control cabin 3, thus saving the internal space of the warning control cabin 3, making the structure more compact, and facilitating the arrangement of more monitoring nodes in a limited space. At the same time, by means of power supply from an external unmanned platform or equipping an external battery compartment, the power supply problem during multi-node layout is solved, breaking through the limitation of limited power supply. The external power supply supplies power to the industrial control computer 35, the transducer control board 36, the mechanical scanning sonar 1, and the warning transducer 2 via the power management circuit board 37. The power management circuit board 37 can ensure stable power supply and effective power management for the mechanical scanning sonar 1 and the warning transducer 2, and can also perform power-on and power-off operations regularly. The power management method of the power management circuit board 37 is as Figure 4 shown in the figure. It adopts a multi-module controlled power circuit and a low-power design to realize the power-on and power-off settings of the mechanical scanning sonar 1, the transducer control board 36, and the industrial control computer 35 at regular intervals. And by virtue of the characteristics of the low-power devices on the power management circuit board 37, the power consumption during system standby is reduced, and the power required for the system to support the warning transducer 2 to emit warning signals for a long time is satisfied.

[0036] It is found through testing that when the warning device of this embodiment is in the standby state, the working power is less than 1W; when the warning device is in the intermittent detection state, the average power is less than 6W; when the warning device is in the first-level warning state, the average working power is less than 15W, and the peak power is 25W; when the warning device is in the second-level expulsion state, the average power is less than 15W, and the peak power is 150W. In addition, the physical control of power-on and power-off of the warning device can be completed through the knob switch on the warning control cabin 3. The working power of this warning device makes the overall power consumption of the device much lower than that of the existing warning systems using image sonar. Thus, even if this warning device is used for underwater multi-node layout, it can still ensure the long-term stable operation of the entire system, which effectively alleviates the contradiction between multi-node layout and limited power supply. In addition, the mechanical scanning sonar 1 and the warning transducer 2 used in this embodiment are both low-power devices, which can further reduce the energy consumption of the warning device.

[0037] It can be seen from this that the warning device of this embodiment integrates acoustic perception, hierarchical decision-making and active warning functions, and can realize all-weather safety protection of deep-sea unmanned platforms. Among them, the industrial control computer 35 is the EPC-S202 of Advantech Co., Ltd. and is used to realize information feedback and interaction. The industrial control computer 35 can accurately transmit and interact signals with the mechanical scanning sonar 1 and the warning transducer 2. The mechanical scanning sonar 1 of this embodiment is the ISS360-HD type mechanical scanning sonar of Impact Subsea company, whose working center frequency is 700kHz, and the maximum applicable water depth is 6000m. This mechanical scanning sonar 1 can realize 360° plane dynamic scanning, the vertical beam opening angle can reach 30°, and the maximum scanning coverage radius is 120m. The warning transducer 2 is the DRT-M type transducer of Haosheng Technology, whose working frequency band is 7kHz - 16kHz, the transmitting sound source level is 195dB (reference value 1μPa@1m), and the working depth can meet the water depth condition of 6000m. The sealed cabin shell 31 of the warning control cabin 3 has a good sealing effect and is pressure-resistant. After all the equipment in the warning device of this embodiment is tested under the underwater 6000-meter pressure environment, it has passed the underwater 6000-meter pressure environment test, and there is no damage, deformation or leakage of the equipment after maintaining the pressure for 2 hours in a pressure environment of 72MPa.

[0038] The process of a warning method for a deep-sea unmanned platform in this embodiment is as follows:

[0039] S1, the mechanical scanning sonar 1 dynamically scans the surrounding environment of the underwater unmanned platform 4, the mechanical scanning sonar 1 converts the environmental information around the underwater unmanned platform 4 into sonar data, and transmits the sonar data to the industrial control computer 35 for processing.

[0040] S2, the industrial computer 35 uses the background subtraction and frame difference fusion method based on the sonar data collected by the mechanical scanning sonar 1 to determine whether there is a suspicious target within the warning radius of the underwater unmanned platform 4.

[0041] If there is no target threat, the industrial computer 35 controls the mechanical scanning sonar to be in intermittent detection mode, which can reduce the energy consumption of the mechanical scanning sonar and keep the overall average power of the warning device below 6W.

[0042] If there is a suspicious target, the industrial computer 35 makes a graded warning decision based on the dynamic information of the suspicious target (such as the distance and movement trajectory of the suspicious target from the underwater unmanned platform 4), and simultaneously uploads the sonar data and response log to the information interaction device, which is stored by the information interaction device. The industrial computer 35 transmits the graded warning decision to the transducer control board 36, and the transducer control board 36 controls the warning transducer 2 to emit different levels of warning signals according to the graded warning decision to warn or drive away the suspicious target. The graded warning decision dynamically adjusts the sonar scanning parameters and the warning signal type according to the threat distance and trajectory of the suspicious target. Specifically, when the suspicious target enters the warning radius of 100m and the moving speed is ≥0.5m / s, the transducer control board 36 controls the warning transducer 2 to trigger the first-level warning (early warning) sound signal, which is a broadcast response signal with a signal length of 24ms, and a warning signal is sent every 5s. When the suspicious target continues to approach the underwater unmanned platform within 4 to 50m, and the trajectory points to the core area of ​​the underwater unmanned platform 4, the transducer control board 36 controls the warning transducer 2 to trigger the secondary expulsion sound signal. The secondary expulsion signal is a communication signal, the sound source level can reach 195dB, the signal length is 4s, and the expulsion signal is sent every 1s. The signal can play a linkage protection role with the surrounding preset defense devices. At the same time, the industrial computer 35 controls the scanning range of the mechanical scanning sonar 1 to be directional adjusted to the direction where the suspicious target is approaching, and enhances the tracking and detection capability of the suspicious target. This hierarchical decision-making function of the present embodiment allows the warning device to dynamically adjust the working mode of the mechanical scanning sonar 1 according to the actual monitoring situation, and can reduce energy consumption and energy allocation when there is no target threat. When necessary, the continuous high-energy consumption monitoring and warning functions are started, avoiding energy consumption in non-essential situations, thereby adapting to the intermittent nature of energy supply and meeting full-time monitoring needs.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the present invention.

Claims

1. A warning device for a deep - sea unmanned platform, characterized in that, It includes a mechanical scanning sonar, a warning transducer and a warning control cabin. The mechanical scanning sonar, the warning transducer and the warning control cabin are installed on an underwater unmanned platform. The mechanical scanning sonar scans the dynamic information of suspicious targets around the underwater unmanned platform and converts it into sonar data. The mechanical scanning sonar transmits the sonar data to the warning control cabin, and the warning control cabin processes the data. The warning control cabin hierarchically controls the warning transducer based on the processed data, so that the warning transducer emits warning signals at different levels to warn or drive away suspicious targets.

2. The warning device for a deep-sea unmanned platform according to claim 1, wherein The warning control cabin includes an industrial control computer and a transducer control board. The mechanical scanning sonar is electrically connected to the industrial control computer, the industrial control computer is electrically connected to the transducer control board, and the transducer control board is electrically connected to the warning transducer.

3. The warning device for a deep - sea unmanned platform according to claim 2, wherein, An external control platform is provided on the underwater unmanned platform. The external control platform includes an external power supply. The warning control cabin further includes a power management circuit board. The power management circuit board is connected to the external power supply. The external power supply is connected to the power management circuit board and supplies power to the industrial control computer, the transducer control board, the mechanical scanning sonar and the warning transducer via the power management circuit board. The power management circuit board manages the power of the mechanical scanning sonar and the warning transducer.

4. The warning device for a deep-sea unmanned platform according to claim 2, characterized in that, The external control platform further includes an information interaction device. The industrial control computer is connected to the information interaction device and transmits the processed data to the information interaction device for storage.

5. The warning device for a deep - sea unmanned platform according to claim 4, wherein, The warning control cabin is connected to the mechanical scanning sonar, the warning transducer and the external control platform via watertight plugs.

6. A warning method for a deep - sea unmanned platform, characterized in that, It is implemented by using the warning device of the deep-sea unmanned platform described in any one of claims 1 to 5. The warning process is as follows: S1. The mechanical scanning sonar dynamically scans the surrounding environment of the underwater unmanned platform. The mechanical scanning sonar obtains the dynamic information of suspicious targets around the underwater unmanned platform and converts it into sonar data, and transmits the sonar data to the warning control cabin; S2. The warning control cabin processes the sonar data of the mechanical scanning sonar and determines whether there are suspicious targets within the warning radius of the underwater unmanned platform. If there are suspicious targets, go to step S3; S3. The warning control cabin makes a hierarchical warning decision based on the threat distance and movement trajectory of the suspicious target, and controls the warning transducer to emit warning signals at different levels to warn or drive away the suspicious target.

7. The warning method of an unmanned deep-sea platform according to claim 6, characterized in that The hierarchical warning decision in S3 is as follows: When the suspicious target is between the warning radius and the driving radius and the moving speed is greater than the set threshold, the warning control cabin controls the warning transducer to emit a first-level warning signal. The first-level warning signal is a broadcast response signal with a signal length of 24 ms, and a warning signal is sent every 5 s; when the suspicious target enters the driving radius and continuously approaches the underwater unmanned platform, the warning control cabin controls the warning transducer to emit a second-level driving signal. The second-level driving signal is a communication signal with a signal length of 4 s, and a driving signal is sent every 1 s.

8. The warning method of a deep - sea unmanned platform according to claim 7, characterized in that, Taking the underwater unmanned platform as the center, the range radiating 50 m to 100 m outward is the warning radius.

9. The warning method for a deep-sea unmanned platform according to claim 8, wherein, Taking the underwater unmanned platform as the center, the range radiating within 50 m outward is the driving radius.

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