A suspended target scanning device and method

Abstract

The present application relates to the technical field of deep-sea exploration, and particularly relates to a suspended target scanning device and method, which comprises a bionic fish connector and a tensioned overall buoyancy leveling device; the bionic fish connector is based on bionic adsorption principle, adopts a flexible sealing structure and a negative pressure self-adaptive adjustment technology, realizes lossless connection of a transducer and a ship body, supports rapid disassembly and reuse, and significantly reduces maintenance cost; the tensioned overall buoyancy leveling device constructs a dynamic balance system through the synergistic effect of a towing buoy and a towing tension cable, offsets the tilting moment caused by ship roll and pitch in real time, and enables the transducer to automatically maintain horizontal in complex sea conditions; based on a multi-beam alternate opening angle mode, the suspended matter is dynamically tracked, and the three-dimensional coordinates of a 200-400m water depth target are quickly locked.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of deep-sea exploration, in particular to a suspended target scanning device and method, which is suitable for searching, identifying and monitoring the deep-sea suspended target. BACKGROUND

[0002] The accurate detection of the deep-sea suspended target has important significance for the marine resource exploration, environmental monitoring and military application. The existing technology mainly relies on the ship-borne acoustic transducer to realize the target scanning, but its installation mode and dynamic stability have significant defects. The conventional transducer is rigidly fixed to the ship body by welding, which not only destroys the structural integrity of the ship, causes stress concentration and corrosion risk, but also greatly increases the maintenance cost due to the non-dismountability. At the same time, the detection accuracy of the acoustic transducer strictly depends on the horizontal posture, and the roll and pitch of the ship in complex sea conditions will cause the transducer base to tilt, which needs to rely on the mechanical leveling device for manual intervention, and it is difficult to realize the dynamic real-time calibration. The vibration and attitude deviation will cause the sound beam to deviate, which will increase the azimuth solution error of the suspended target and further reduce the signal-to-noise ratio of the weak reflection signal. Therefore, it is urgent to develop a scanning device and method that combines non-destructive installation and adaptive attitude stability, in order to break through the limitation of the ship structure and improve the detection robustness in dynamic environment, and meet the demand of high-precision detection in deep sea. SUMMARY

[0003] In view of the shortcomings of the prior art, the present application provides a suspended target scanning device and method, which realizes the non-destructive connection of the transducer and the ship body based on the bionic adsorption principle, using flexible sealing structure and negative pressure adaptive adjustment technology; through the synergistic action of the buoyancy unit and the tension cable, a double-density liquid self-balancing system of the leveling liquid tank is constructed to real-time offset the tilting moment caused by the roll and pitch of the ship, so that the transducer can automatically maintain horizontal in complex sea conditions; at the same time, an alternating scanning strategy is adopted to realize the precision positioning of the target in the water depth of 200-400 meters by combining the advantages of wide and narrow opening angles; in order to achieve the above purpose, the present application provides the following technical solutions:

[0004] A suspended target scanning device, comprising a bionic fish connector and a tensioned whole buoyancy leveling device, the upper end of the bionic fish connector is fixed to the surface of the ship body by negative pressure adsorption, and the lower end is connected with the tensioned whole buoyancy leveling device; the lower end of the tensioned whole buoyancy leveling device is fixed with a transducer.

[0005] Further, the bionic fish connector comprises a streamline breaking wave shell, a lift fin, a bionic suction cup, a bionic suction cup papillary structure, a support frame and an edge sealing soft ring; the streamline breaking wave shell is located at the front end of the bionic fish connector, is a water drop-shaped curved surface, is provided with a bionic golf pit array on the surface, the pits are arranged in a hexagonal close arrangement, and an open-angle adjustable letter "V" groove is arranged at the top, and the groove angle can be adjusted according to the shape of the ship bottom; the lift fin is arranged symmetrically on both sides of the shell and is used for generating upward pressure during navigation.

[0006] Further, the bionic suction cup has two, which are located on both sides of the letter "V" groove on the streamline breaking wave shell.

[0007] Further, the edge sealing soft ring is directly in contact with the ship body and is composed of a composite material; the bionic suction cup papillary structure is arranged in an "eight" shape on both sides of the support frame, covers the bionic suction cup and is adsorbed to the contact surface of the ship body; the support frame is a hollow frame, is connected with a micro vacuum pump inside, and maintains the negative pressure in the bionic suction cup.

[0008] Further, the tensioned whole floating force leveling device comprises a leveling liquid tank in the streamline breaking wave shell, a low-density damping liquid area, a high-density leveling liquid area, a liquid interface, a traction buoy, a traction tension cable, a hydraulic cylinder, a hydraulic rod, a universal joint fork, a cross shaft, a leakage-proof elastic cable sleeve and a transducer mounting platform outside the streamline breaking wave shell, which is not affected by the water flow under the protection of the streamline breaking wave shell; the leakage-proof elastic cable sleeve is composed of a composite material, is connected with the traction buoy and the upper surface of the bottom of the leveling liquid tank, wraps the whole traction tension cable and prevents the liquid in the leveling liquid tank from flowing out; the leveling liquid tank is divided into the low-density damping liquid area above and the high-density leveling liquid area below by the liquid interface; the low-density damping liquid area plays a damping role and suppresses the swing of the traction buoy in the leveling liquid tank; the high-density leveling liquid area plays a buoyancy role on the traction buoy, when the ship body is inclined, due to the sealing of the leveling liquid tank, the liquids in the low-density damping liquid area and the high-density leveling liquid area are inclined under the action of gravity, but the liquid interface of the two liquids always remains horizontal; the density of the traction buoy is between the low-density damping liquid and the high-density leveling liquid, and three groups of the traction buoy are hinged to the top of the transducer mounting platform through the same length of traction tension cable, the traction buoy is immersed in the leveling liquid tank, and the contact points of each traction buoy with the liquid interface of the liquids in the low-density damping liquid area and the high-density leveling liquid area are the same position.

[0009] Further, the hydraulic cylinder, the hydraulic rod, the leveling liquid tank, the transducer mounting platform and the traction tension cable constitute a three-pole nine-cable tension integral structure, when the ship body tilts in any direction, the movement plane determined by the lower ends of the three traction tension cables always keeps parallel with the liquid interface between the low-density damping liquid area and the high-density leveling liquid area; relying on the real-time traction of the traction tension cable, the transducer mounting platform can always keep horizontal; the hydraulic cylinder and the hydraulic rod support the transducer mounting platform by cooperating with extension and rotation around the cross shaft; the universal joint fork and the cross shaft constitute a universal transmission assembly, connecting the hydraulic cylinder and the hydraulic rod with the transducer mounting platform and the leveling liquid tank.

[0010] Further, a scanning method of a suspended target scanning device comprises the following steps:

[0011] Step S1: install the multi-beam transducer on the transducer mounting platform of the tension integral buoyancy leveling device, adjust the transducer array plane to be parallel to the horizontal plane; start the double-density liquid self-balancing system of the leveling liquid tank, so that the transducer mounting platform keeps horizontal in the static water area;

[0012] Step S2: set the sonar to image mode, the range covers 700 meters, the opening angle is 143°; enable the alternate scanning strategy: first stage: adopt 20° large opening angle scanning, quickly locate the approximate area of the suspended target; second stage: switch to 2° small opening angle, accurately lock the target position;

[0013] Step S3: control the ship body to travel at a constant speed, when the target first appears in the 20° opening angle scanning range, reduce the ship speed; through the alternate switching of the 2° opening angle and the 20° opening angle, the target position is dynamically judged, if the target appears in the large opening angle and the small opening angle scanning range at the same time, it is determined that the target is located at a distance of the specified angle of the transducer fan;

[0014] Step S4: through the tension integral buoyancy leveling device, the inclination caused by the ship body pitching is compensated in real time, the transducer platform keeps horizontal stability; the target coordinate data is transmitted to the display control terminal in real time, and a suspended matter distribution thermal map is generated.

[0015] Compared with the prior art, the suspended target scanning device and method have the following beneficial effects:

[0016] 1. Non-destructive installation of bionic connector: based on the bionic adsorption principle, the flexible sealing structure and the negative pressure self-adaptive adjustment technology are adopted to realize the lossless connection of the transducer and the ship body, adapt to the curvature change of the ship body, reduce the fluid resistance and the cavitation effect, avoid the damage to the ship body structure caused by the traditional welding method, support quick disassembly and reuse, and significantly reduce the maintenance cost;

[0017] 2. Adaptive posture stabilization of the tensegrity buoyancy leveling device: through the coordinated action of the buoyancy unit and the tension cable, a double-density liquid self-balancing system of the leveling liquid tank is constructed to offset the tilting moment caused by ship roll and pitch in real time, so that the transducer automatically maintains horizontal in complex sea conditions, and the response speed is significantly improved compared with traditional mechanical leveling devices;

[0018] 3. High robustness detection of adsorption-leveling integration: the coupling design of the bionic connector and the buoyancy leveling device not only guarantees the static stability of the transducer base, but also suppresses low-frequency wave disturbance through dynamic compensation, reduces the accuracy error of sound wave beam pointing, and improves the signal-to-noise ratio of weak target detection. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is the overall structure schematic diagram of the suspended target scanning device of the application;

[0020] Figure 2 It is the internal structure schematic diagram of the suspended target scanning device of the application;

[0021] Figure 3 It is the structure schematic diagram of the bionic fish connector of the application;

[0022] Figure 4 It is the structure schematic diagram of the tensegrity buoyancy leveling device of the application;

[0023] Figure 5 It is the connection structure schematic diagram of the leveling liquid tank and the leak-proof elastic cable sleeve of the application;

[0024] Figure 6 It is the working principle diagram of the tensegrity buoyancy leveling device of the application;

[0025] Figure 7 It is the internal structure schematic diagram of the tensegrity buoyancy leveling device of the application;

[0026] Figure 8 It is the detection method step diagram of the suspended target scanning device of the application;

[0027] Figure 9 It is the positioning effect schematic diagram of the suspended target scanning method of the application;

[0028] In the figure:

[0029] 1-bionic fish connector; 2-tensegrity buoyancy leveling device;

[0030] 101-streamlined wave-breaking shell; 102-lift fin; 103-bionic suction cup; 104-bionic suction cup papillary structure; 105-support frame; 106-edge sealing soft ring;

[0031] 201-Leveling liquid tank; 202-Low-density damping liquid zone; 203-High-density leveling liquid zone; 204-Liquid interface; 205-Traction buoy; 206-Traction tension cable; 207-Hydraulic cylinder; 208-Hydraulic rod; 209-Universal joint fork; 210-Cross shaft; 211-Leak-proof elastic cable sleeve; 212-Transducer mounting platform. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] The following is based on the appendix Figures 1-9 The present invention will be described in detail, such as Figure 1 and Figure 2 As shown, the present invention provides a suspended target scanning device, which includes a bionic fish connector 1 and a tensioned integral buoyancy leveling device 2. The upper end of the bionic fish connector 1 is fixed to the surface of the hull by negative pressure adsorption, and the lower end is connected to the tensioned integral buoyancy leveling device 2. A transducer is fixed at the lower end of the tensioned integral buoyancy leveling device 2.

[0034] Specifically, such as Figure 3 As shown, the bionic fish connector 1 includes a streamlined wave-breaking shell 101, a lifting fin 102, a bionic suction cup 103, a bionic suction cup nipple structure 104, a support frame 105, and an edge sealing soft ring 106. The streamlined wave-breaking shell 101 is located at the front end of the bionic fish connector 1, and has a teardrop-shaped curved surface. The surface is provided with a golf ball-shaped array of pits, which are arranged in a hexagonal and tightly packed pattern. The top is provided with an adjustable "V" groove, which can be adjusted according to the shape of the boat bottom. The lifting fin 102 adopts a low-speed airfoil and is symmetrically arranged on both sides of the shell to generate upforce during navigation.

[0035] There are two bionic suction cups 103, located on both sides of the letter "V" groove on the streamlined wave-breaking shell 101.

[0036] The edge sealing soft ring 106 is in direct contact with the hull and is made of composite material; the bionic suction cup nipple structure 104 is arranged in an "eight" shape on both sides of the support frame 105, covering the bionic suction cup 103 and adsorbing onto the hull contact surface; the support frame 105 is a hollow frame with a micro vacuum pump connected inside to maintain negative pressure inside the bionic suction cup 103.

[0037] Specifically, such as Figure 4As shown in the figure, the tensioned integral buoyancy leveling device 2 includes a leveling liquid tank 201 inside the streamlined wave-breaking shell 101, a low-density damping liquid area 202, a high-density leveling liquid area 203, a liquid interface 204, a traction buoy 205, a traction tension cable 206, a hydraulic cylinder 207, a hydraulic rod 208, a universal joint fork 209, a cross shaft 210, a leak-proof elastic cable sleeve 211, and a transducer mounting platform 212 outside the streamlined wave-breaking shell 101, which is protected by the streamlined wave-breaking shell 101 and is not affected by the water flow.

[0038] As shown in the figure, Figure 5 The leak-proof elastic cable sleeve 211 is made of composite material, connects the traction buoy 205 and the upper surface of the bottom of the leveling liquid tank 201, and wraps the entire traction tension cable 206 to prevent the liquid inside the leveling liquid tank 201 from flowing out.

[0039] As shown in the figure, Figure 6 The low-density damping liquid area 202 plays a damping role to suppress the sway of the traction buoy 205 in the leveling liquid tank 201. The high-density leveling liquid area 203 provides buoyancy to the traction buoy 205. When the hull tilts, the low-density damping liquid area 202 and the high-density leveling liquid area 203 inside the leveling liquid tank 201 tilt due to the gravity, but the liquid interface 204 between the two liquids always remains horizontal. The density of the traction buoy 205 is between that of the low-density damping liquid 202 and the high-density leveling liquid 203. There are three groups of traction tension cables 206 with the same length hinged to the top of the transducer mounting platform 212. The traction buoy 205 is submerged in the leveling liquid tank 201, and each traction buoy 205 contacts the liquid interface of the low-density damping liquid area 202 and the high-density leveling liquid area 203 at the same position.

[0040] As shown in the figure, Figure 7 The hydraulic cylinder 207, the hydraulic rod 208, the leveling liquid tank 201, the transducer mounting platform 212, and the traction tension cable 206 form a three-bar nine-cable tensioned integral structure. When the hull tilts in any direction, the movement plane determined by the lower ends of the three traction tension cables 206 always remains parallel to the liquid interface 204 between the low-density damping liquid area 202 and the high-density leveling liquid area 203. Relying on the real-time traction of the traction tension cable 206, the transducer mounting platform 212 can always remain horizontal. The hydraulic cylinder 207 and the hydraulic rod 208 support the transducer mounting platform 212 by cooperating with the extension and rotation around the cross shaft 210. The universal joint fork 209 and the cross shaft 210 form a universal transmission assembly, which connects the hydraulic cylinder 207 and the hydraulic rod 208 with the transducer mounting platform 212 and the leveling liquid tank 201.

[0041] Specifically, such as Figure 8 As shown, a detection method for a suspended target scanning device is characterized by comprising the following steps:

[0042] Step S1: Install the multibeam transducer on the transducer mounting platform 212 of the tensioned integral buoyancy leveling device 2, and adjust the transducer array to be parallel to the horizontal plane; start the dual-density liquid self-balancing system of the leveling tank 201 to keep the transducer mounting platform 212 in a horizontal state in the static water area.

[0043] Step S2: Set the sonar to image mode, with a range of 700 meters and an opening angle of 143°; enable the alternating scanning strategy: First stage: use a 20° large opening angle scan to quickly locate the approximate area of ​​the suspended target; Second stage: switch to a 2° small opening angle to accurately lock the target position;

[0044] Step S3: Control the ship to travel at a constant speed. When the target first appears in the 20° opening angle scanning range, reduce the ship speed. By alternating between the 2° opening angle and the 20° opening angle, dynamically determine the target position. If the target appears in both the large and small opening angle scanning ranges at the same time, determine that the target is located at a distance of the specified angle of the transducer fan.

[0045] Step S4: The overall buoyancy leveling device 2 is used to compensate for the tilt caused by the hull turbulence in real time, and the transducer platform is kept horizontally stable; the target coordinate data is transmitted to the display and control terminal in real time to generate a heat map of suspended matter distribution.

[0046] Specifically, such as Figure 9 As shown, after installing the leveling device, the measurement effect is significantly improved, and the suspended target is accurately positioned. Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A suspended target scanning device, characterized by: The device comprises a bionic fish connector (1) and a tension integral buoyancy leveling device (2), the upper end of the bionic fish connector (1) is fixed to the surface of the ship body by negative pressure adsorption, and the lower end is connected with the tension integral buoyancy leveling device (2); the tension integral buoyancy leveling device (2) comprises a leveling liquid cabin (201) inside a streamline wave-breaking shell (101), a low-density damping liquid area (202), a high-density leveling liquid area (203), a liquid interface (204), a traction buoy (205), a traction tension cable (206), a hydraulic cylinder (207), a hydraulic rod (208), a universal joint fork (209), a cross shaft (210), a leak-proof elastic cable sleeve (211) and a transducer mounting platform (212) outside the streamline wave-breaking shell (101), the lower end of the transducer mounting platform (212) is fixed with a transducer, which is not affected by the water flow under the protection of the streamline wave-breaking shell (101); The bionic fish connector (1) comprises a streamline wave-breaking shell (101), a lifting fin (102), a bionic suction cup (103), a bionic suction cup papillary structure (104), a support frame (105) and an edge sealing soft ring (106); the streamline wave-breaking shell (101) is located at the front end of the bionic fish connector (1) and is in the shape of a water droplet, the surface is provided with a bionic golf pit array, the pits are arranged in a hexagonal close-packed manner, and an open-angle adjustable letter "V" groove is arranged at the top, and the groove angle can be adjusted according to the shape of the ship bottom; the lifting fin (102) is arranged symmetrically on both sides of the shell and is used for generating upward pressure during navigation.

2. A device for scanning a target in suspension according to claim 1, characterized in that: The bionic suction cup (103) has a total of two and is located on both sides of the letter "V" groove on the streamline wave-breaking shell (101).

3. The device of claim 1, wherein: The edge sealing soft ring (106) is directly in contact with the ship body and is made of a composite material; the bionic suction cup papillary structure (104) is in the shape of "eight" and is arrayed on both sides of the support frame (105), covers the bionic suction cup (103) and is adsorbed to the contact surface of the ship body; the support frame (105) is a hollow frame, a micro vacuum pump is connected inside the support frame (105), and the negative pressure in the bionic suction cup (103) is maintained.

4. The suspended target scanning apparatus of claim 1, wherein: The leak-proof elastic cable sleeve (211) is made of a composite material, connects the traction buoy (205) and the upper surface of the bottom of the leveling liquid cabin (201), wraps the entire traction tension cable (206) and prevents the liquid in the leveling liquid cabin (201) from flowing out.

5. The suspended target scanning apparatus of claim 1, wherein: The leveling liquid tank (201) is divided by a liquid interface (204) into a low-density damping liquid area (202) above and a high-density leveling liquid area (203) below; the low-density damping liquid area (202) plays a damping role to suppress the swing of the towed buoy (205) in the leveling liquid tank (201); the high-density leveling liquid area (203) plays a buoyancy role on the towed buoy (205); when the ship body tilts, due to the sealing of the leveling liquid tank (201), the liquids in the low-density damping liquid area (202) and the high-density leveling liquid area (203) tilt under the action of gravity, but the liquid interface (204) between the two liquids always remains horizontal; the towed buoy (205) has a density between the low-density damping liquid and the high-density leveling liquid, and there are three groups of towed tension cables (206) with the same length hinged to the top of the transducer mounting platform (212), the towed buoy (205) is submerged in the leveling liquid tank (201), and each towed buoy (205) is in contact with the liquid interface of the low-density damping liquid area (202) and the high-density leveling liquid area (203) at the same position.

6. The suspended target scanning apparatus of claim 1, wherein: The hydraulic cylinder (207), the hydraulic rod (208), the leveling liquid tank (201), the transducer mounting platform (212), and the towed tension cable (206) form a three-bar nine-cable tension whole structure; when the ship body tilts in any direction, the movement plane determined by the lower ends of the three towed tension cables (206) always remains parallel to the liquid interface (204) between the low-density damping liquid area (202) and the high-density leveling liquid area (203); relying on the real-time pulling of the towed tension cable (206), the transducer mounting platform (212) can always remain horizontal; the hydraulic cylinder (207) and the hydraulic rod (208) support the transducer mounting platform (212) by cooperating with extension and rotation around the cross shaft (210).

7. The suspended target scanning apparatus of claim 1, wherein: The universal joint fork (209) and the cross shaft (210) form a universal transmission assembly, connecting the hydraulic cylinder (207) and the hydraulic rod (208) with the transducer mounting platform (212) and the leveling liquid tank (201).

8. The method of claim 1-7, wherein, The method comprises the following steps: Step S1: install the multi-beam transducer on the transducer mounting platform (212) of the tension whole buoyancy leveling device (2), adjust the transducer array plane to be parallel to the horizontal plane; start the double-density liquid self-balancing system of the leveling liquid tank (201) to keep the transducer mounting platform (212) in a horizontal state in static water area; Step S2: set the sonar to image mode, the range covers 700 meters, and the opening angle is 143°; enable the alternate scanning strategy: first stage: use 20° large opening angle scanning to quickly locate the approximate area of the suspended target; Second stage: switch to 2° small opening angle to accurately lock the target position; Step S3: control the hull to travel at a constant speed, and reduce the speed when the target first appears in the 20° opening angle scanning range; dynamically determine the target position by alternating switching between 2° opening angle and 20° opening angle, if the target appears in both the large opening angle and the small opening angle scanning range, it is determined that the target is located at a distance of the specified angle of the transducer fan; Step S4: compensate the inclination caused by the hull pitching in real time through the integral buoyancy leveling device (2), maintain the horizontal stability of the transducer platform; transmit the target coordinate data to the display control terminal in real time, and generate a suspended matter distribution thermal map.

Images