CN110967698A - Unmanned ship mine detection system and method - Google Patents
Unmanned ship mine detection system and method Download PDFInfo
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- CN110967698A CN110967698A CN201911320933.8A CN201911320933A CN110967698A CN 110967698 A CN110967698 A CN 110967698A CN 201911320933 A CN201911320933 A CN 201911320933A CN 110967698 A CN110967698 A CN 110967698A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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Abstract
The invention discloses an unmanned ship mine detection system, which comprises: unmanned ship, forward-looking sonar, multi-beam detection device, side scan and shallow profile sonar and towing gear, forward-looking sonar and multi-beam detection device carry on unmanned ship, and side scan and shallow profile sonar carry on dragging the fish and be connected with unmanned ship through towing gear, and forward-looking sonar, multi-beam detection device and side scan and shallow profile sonar gather the information transmit to bank end or mother's command control center through the radio station on unmanned ship and carry out real-time analysis. The invention discloses a submarine mine detection method for an unmanned ship. The unmanned ship is used as a main body, the advantages of the unmanned platform are utilized, the various detection equipment is utilized to carry out omnibearing detection in the designated area, the various mine information around the unmanned ship can be accurately obtained, the mine detection efficiency is greatly improved, the detection time is reduced, the detected mine information can be utilized to carry out autonomous navigation, the collision with the obstacle is avoided, and the safety and the reliability of unmanned ship navigation are improved.
Description
Technical Field
The invention relates to the technical field of unmanned detection, in particular to an unmanned ship mine detection system and method.
Background
With the development of modern science and technology, the detection method of the mine also has great progress. At present, the most main mine detection equipment is sonar equipment, but most of the mine detection equipment installed on the unmanned boat has single function and can only detect one or two types of torpedoes. For example: the side-scan sonar can detect the bottom-submerged mines but can not detect the buried mines or the floating mines; the multi-beam can detect anchor mines and submerged mines, but can not detect floating mines and buried mines. Therefore, the existing mine exploring equipment cannot comprehensively explore mines around the unmanned ship, and threatens the mine exploring of the unmanned ship.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a submarine mine detection system and method for an unmanned ship, which can detect mines around the unmanned ship in an all-around manner, greatly improve the mine detection efficiency and save time.
The invention provides an unmanned ship mine detection system, which comprises: unmanned ship, forward-looking sonar, multi-beam detection device, side-scan and shallow-profile sonar and towing gear, forward-looking sonar with multi-beam detection device carries on unmanned ship, side-scan and shallow-profile sonar carry on dragging the fish and through towing gear with unmanned ship connects, forward-looking sonar, multi-beam detection device and side-scan and shallow-profile sonar information of gathering pass through the radio station transmission on unmanned ship carries out real-time analysis to the command control center of bank end or mother ship.
As a further improvement of the present invention, the forward-looking sonar is mounted in front of the unmanned ship, and detects an anchor mine and a floating mine in front of the unmanned ship.
As a further improvement of the present invention, the multi-beam detection device is mounted on the bottom of the unmanned surface vehicle, and detects an anchor mine and a submerged mine below the unmanned surface vehicle.
As a further improvement of the invention, the side-scan and shallow-section sonar comprises a side-scan sonar and a shallow profiler which are carried on the towed fish, and is used for detecting the bottom mines and the buried mines on the two sides of the unmanned boat.
As a further improvement of the invention, the side scan sonar detects the bottom mines at two sides of the unmanned ship, and the shallow profiler detects the buried mines at two sides of the unmanned ship.
The invention also provides an unmanned ship mine detection method, which adopts the unmanned ship mine detection system as claimed in any one of claims 1-5, and comprises the following steps:
s1, receiving a detection instruction, and starting the unmanned ship mine detection system according to the detection instruction;
s2, respectively receiving detection signals through a forward-looking sonar, a multi-beam detection device and a side-scan and shallow-profile sonar of the unmanned ship mine detection system;
s3, transmitting signals detected by the forward-looking sonar, the multi-beam detection device and the side-scan and shallow-profile sonar to a command control center of a shore end or a mother ship for real-time analysis through a radio station on the unmanned ship;
and S4, the command control center judges the type and position of the mine near the unmanned ship according to the detected signals.
As a further improvement of the present invention, S2 specifically includes:
the forward-looking sonar continuously scans the water bottom to acquire a detection signal in front of the unmanned ship;
the multi-beam detection device continuously scans the water bottom to obtain a detection signal below the unmanned ship;
and the side scan and the shallow-section sonar continuously scan the two sides to acquire detection signals of the two sides of the unmanned ship.
As a further improvement of the present invention, S3 specifically includes:
according to the signals detected by the forward-looking sonar, determining whether an anchor mine and a floating mine exist in front of the unmanned ship or not, and determining the direction, size and form of the anchor mine and the floating mine;
determining whether an anchor mine and a submerged mine exist below the unmanned ship or not and the position, the size and the form of the anchor mine and the submerged mine according to the signals detected by the multi-beam detection device;
and determining whether the two sides of the unmanned ship have the bottom-submerged mines and the buried mines and the directions, the sizes and the forms of the bottom-submerged mines and the buried mines according to signals detected by the side-scanning and shallow-section sonar.
As a further improvement of the invention, whether the bottom mines are on the two sides of the unmanned ship or not and the position, the size and the form of the bottom mines are determined according to signals detected by a side-scan sonar in a side-scan sonar and a shallow-section sonar, and whether the buried mines are on the two sides of the unmanned ship or not and the position, the size and the form of the buried mines are determined according to signals detected by a shallow stratum profiler in the side-scan sonar and the shallow-section sonar.
As a further improvement of the invention, the method also comprises S5, and the command control center controls the navigation track of the unmanned ship according to the type of the detected mines and the orientation, size and form of the mines.
The invention has the beneficial effects that:
with unmanned ship as the main part, utilize unmanned platform's advantage, utilize multiple detection to equip in the specified area and carry out all-round detection, can accurately acquire the multiple naval mine information around the unmanned ship, very big improvement the efficiency of exploring the thunder, reduced the detection time to can utilize the naval mine information that detects to carry out autonomous navigation, avoid colliding with the barrier, increase the security and the reliability of unmanned ship navigation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a schematic diagram of an unmanned surface vessel mine detection system according to an embodiment of the present invention.
In the figure, the position of the upper end of the main shaft,
1. an unmanned boat; 2. a forward looking sonar; 3. a multi-beam detection device; 4. side scan and shallow sonar; 5. and a dragging device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, in the description of the present invention, the terms used are for illustrative purposes only and are not intended to limit the scope of the present invention. The terms "comprises" and/or "comprising" are used to specify the presence of stated elements, steps, operations, and/or components, but do not preclude the presence or addition of one or more other elements, steps, operations, and/or components. The terms "first," "second," and the like may be used to describe various elements, not necessarily order, and not necessarily limit the elements. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified. These terms are only used to distinguish one element from another. These and/or other aspects will become apparent to those of ordinary skill in the art in view of the following drawings, and the description of the embodiments of the present invention will be more readily understood by those of ordinary skill in the art. The drawings are only for purposes of illustrating the described embodiments of the invention. One skilled in the art will readily recognize from the following description that alternative embodiments of the structures and methods illustrated in the present application may be employed without departing from the principles described in the present application.
During the course of the unmanned ship 1, we determine whether there is an obstacle in front of the unmanned ship 1 and information about the obstacle. A forward-looking sonar 2 is mounted in front of the unmanned ship 1, and information such as the azimuth, size, and shape of an anchor mine and a floating mine in front of the unmanned ship 1 is detected. The forward looking sonar 2 emits an acoustic signal, and utilizes an echo reflected by an obstacle or a target during the underwater propagation of the signal to detect. Since the target (anchor mine and floating mine) information is stored in the echo, the presence of the target can be judged from the received echo signal, and parameters such as the distance, direction, speed, and the like of the target can be measured or estimated. Specifically, the distance of the target can be inferred from the time delay between the echo signal and the transmitted signal, the direction of the target can be inferred from the normal direction of the echo wave front, and the radial velocity of the target can be inferred from the frequency shift between the echo signal and the transmitted signal. In addition, the shape, size, property and motion state of the target can be identified according to the amplitude, phase and change rule of the echo. In this embodiment, M450 to M130 can be used as the forward sonar 2.
During the course of the unmanned ship 1, we also determine whether there are obstacles under the unmanned ship 1 and information about the obstacles. The multi-beam detection device 3 is carried at the bottom of the unmanned ship 1, sound waves covered by a wide sector are transmitted to the seabed by using the transmitting transducer array, the sound waves are received by using the receiving transducer array in a narrow beam mode, irradiation footprints for seabed terrain are formed by orthogonality of the directions of the transmitting and receiving sectors, the footprints are properly processed, and the water depth values of hundreds or even more seabed measured points in a vertical plane perpendicular to the course can be given by one-time detection, so that the size, the shape and the height change of an underwater target in a certain width along a course can be accurately and quickly measured, the three-dimensional characteristics of the seabed terrain can be reliably depicted, the comprehensive detection of the seabed terrain of the unmanned ship 1 is realized, and information such as the azimuth, the size and the form of an anchorage mine, a sinking mine, an anchorage mine and a sinking mine below the unmanned ship 1 are detected. In this embodiment, Sonic 2024 may be used as the multi-beam detector 3.
During the traveling of the unmanned surface vehicle 1, it is determined whether there are obstacles on both sides of the unmanned surface vehicle 1 and information about the obstacles. The side scan and shallow profile sonar 4 includes a side scan sonar and a shallow profiler mounted on a fish. A side scan sonar is characterized in that a transducer linear array is respectively arranged on the left side and the right side of an unmanned boat 1, a short sound pulse is firstly emitted, the sound wave is outwards transmitted in a spherical wave mode and scattered when touching seabed or objects in water, echo waves can return to the transducer according to the original transmission route and are received by the transducer, the echo waves are converted into a series of electric pulses through the transducer, received data of each transmission period are longitudinally arranged in a line-by-line mode and are displayed on a display, a two-dimensional seabed landform acoustic image is formed, the change of the seabed landform can be observed from the sonar image, and whether information such as obstacles exist or not is determined. When the side scan sonar emission pulse is propagated in the water and meets the barrier, the barrier scatters the acoustic energy to each direction, wherein the transducer receives the backscatter echo, and barrier side rear then acoustic energy is difficult to reach (called the blind area), the sonar array constantly advances along with the carrier, in the advancing process sonar constantly launches, constantly receives and forms the sonar image, barrier (the strong echo signal of barrier) and its shadow (the blind area of barrier side rear) appear in the corresponding position department on the sonar image, survey information such as the position, size and the form of the sunken thunder of both sides and the sunken thunder of unmanned ship 1. The shallow stratum profiler can detect the structure and structure of the shallow stratum below the seabed by using the low-frequency sound wave signal to penetrate the bed bottom of the water body and then continuously penetrate the deeper layer of the bed bottom, and combining geology. The acoustic pulse energy generated by the shallow stratum profiler is large, and the acoustic pulse energy can penetrate through a sludge layer, a sand layer and a basement rock layer at a certain depth below the water bottom and detect the information such as the buried mines at a certain depth below the water bottom, the direction, the size, the form and the like of the buried mines. In this embodiment, the side scan sonar employs EdgeTech4125, and the shallow profiler employs EdgeTech 2205.
And the command control center analyzes sonar images obtained by the forward-looking sonar 2, the multi-beam detection device 3, the side-scan sonar and the shallow profiler respectively, obtains the type of the underwater mine near the unmanned ship and the azimuth, size and form information of the underwater mine, further obtains characteristic information for guiding the track of the unmanned ship 1, and controls the navigation track of the unmanned ship 1.
The unmanned ship is used as a main body, the advantages of the unmanned platform are utilized, various detection equipment are utilized to carry out omnibearing detection in the designated area, various mine information around the unmanned ship can be accurately obtained, autonomous navigation is carried out by utilizing the detected mine information, collision with obstacles is avoided, and the safety and reliability of unmanned ship navigation are improved.
and S1, receiving the detection instruction, and starting the unmanned ship mine detection system according to the detection instruction.
And S2, respectively receiving detection signals through a forward-looking sonar 2, a multi-beam detection device 3 and a side-scan and shallow-profile sonar 4 of the unmanned ship mine detection system. Specifically, the method comprises the following steps:
the forward-looking sonar 2 continuously scans the water bottom, emits a detection sound wave with a certain frequency in a two-dimensional plane of a detection direction, receives an echo signal of an obstacle in the range, and detects information such as the direction, size and form of the anchor mine and the floating mine in front of the unmanned ship 1.
The multi-beam detection device 3 continuously scans the water bottom, transmits sound waves covered by a wide sector to the sea bottom by using the transmitting transducer array, receives the sound waves by using a narrow beam by using the receiving transducer array, forms irradiation footprints to the submarine topography by the orthogonality of the directions of the transmitting and receiving sectors, properly processes the footprints, and can give water depth values of hundreds or even more submarine measured points in a vertical plane vertical to the course by one-time detection, so that the size, the shape and the height change of an underwater target in a certain width along a flight path can be accurately and quickly measured, three-dimensional characteristics of the submarine topography are reliably described, the comprehensive detection of the submarine topography of the unmanned ship 1 is realized, and information such as the azimuth, the size and the form of an anchor mine, a sunken mine, an anchor mine and a sunken mine below the unmanned ship 1 are detected.
The side scan and shallow scan sonar 4 continuously scans both sides. A side scan sonar is characterized in that a transducer linear array is respectively arranged on the left side and the right side of an unmanned boat 1, a short sound pulse is firstly emitted, the sound wave is outwards transmitted in a spherical wave mode and scattered when touching seabed or objects in water, echo waves can return to the transducer according to the original transmission route and are received by the transducer, the echo waves are converted into a series of electric pulses through the transducer, received data of each transmission period are longitudinally arranged in a line-by-line mode and are displayed on a display, a two-dimensional seabed landform acoustic image is formed, the change of the seabed landform can be observed from the sonar image, and whether information such as obstacles exist or not is determined. When the side scan sonar emission pulse is propagated in the water and meets the barrier, the barrier scatters the acoustic energy to each direction, wherein the transducer receives the backscatter echo, and barrier side rear then acoustic energy is difficult to reach (called the blind area), the sonar array constantly advances along with the carrier, in the advancing process sonar constantly launches, constantly receives and forms the sonar image, barrier (the strong echo signal of barrier) and its shadow (the blind area of barrier side rear) appear in the corresponding position department on the sonar image, survey information such as the position, size and the form of the sunken thunder of both sides and the sunken thunder of unmanned ship 1.
The shallow stratum profiler can detect the structure and structure of the shallow stratum below the seabed by using the low-frequency sound wave signal to penetrate the bed bottom of the water body and then continuously penetrate the deeper layer of the bed bottom, and combining geology. The acoustic pulse energy generated by the shallow stratum profiler is large, and the acoustic pulse energy can penetrate through a sludge layer, a sand layer and a basement rock layer at a certain depth below the water bottom and detect the information such as the buried mines at a certain depth below the water bottom, the direction, the size, the form and the like of the buried mines.
And S3, transmitting signals detected by the forward looking sonar 2, the multi-beam detection device 3 and the side-scan and shallow-profile sonar 4 to a command control center of a shore end or a mother ship for real-time analysis through a radio station on the unmanned ship 1. Specifically, the method comprises the following steps:
according to the signals detected by the forward-looking sonar 2, whether the anchor mines and the floating mines exist in front of the unmanned ship 1 or not and the positions, sizes and forms of the anchor mines and the floating mines are determined.
And determining whether the anchor mine and the submerged mine exist below the unmanned ship 1 and the position, the size and the form of the anchor mine and the submerged mine according to the signals detected by the multi-beam detection device 3.
According to signals detected by the side-scan and shallow-section sonar 4, whether the two sides of the unmanned ship 1 are provided with the bottom-submerged mines and the buried mines or not and the positions, the sizes and the forms of the bottom-submerged mines and the buried mines are determined. More specifically: according to the signals detected by the side scan sonar in the side scan sonar 4 and the shallow profile sonar, whether the two sides of the unmanned ship 1 have the bottom-submerged mines and the position, the size and the form of the bottom-submerged mines are determined, and according to the signals detected by the shallow stratum profiler in the side scan sonar 4 and the shallow profile sonar, whether the two sides of the unmanned ship 1 have the buried mines and the position, the size and the form of the buried mines are determined.
And S4, the command control center judges the type and position of the mine near the unmanned ship 1 according to the detected signals.
And after detecting the type of the mine near the unmanned ship and the position, size and shape of the mine, the method also comprises S5, and the command control center controls the navigation track of the unmanned ship 1 according to the detected type of the mine and the position, size and shape of the mine.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Furthermore, those of ordinary skill in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
It will be understood by those skilled in the art that while the present invention has been described with reference to exemplary embodiments, various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. An unmanned boat mines a detection system, comprising: unmanned ship (1), foresight sonar (2), multi-beam detecting device (3), side-scan and shallow dissection sonar (4) and towing gear (5), foresight sonar (2) with multi-beam detecting device (3) carry on unmanned ship (1), side-scan and shallow dissection sonar (4) carry on dragging the fish and pass through towing gear (5) with unmanned ship (1) is connected, foresight sonar (2), multi-beam detecting device (3) and side-scan and shallow dissection sonar (4) the information of gathering pass through radio station transmission on unmanned ship (1) carries out real-time analysis to the command control center of bank end or mother ship.
2. An unmanned surface vessel mines detection system according to claim 1, wherein, the forward looking sonar (2) is carried in front of the unmanned surface vessel (1) to detect the anchor mine and the floating mine in front of the unmanned surface vessel (1).
3. An unmanned surface vessel mines detection system according to claim 1, wherein the multi-beam detection device (3) is carried at the bottom of the unmanned surface vessel (1) and detects an anchor mine and a submerged mine under the unmanned surface vessel (1).
4. An unmanned surface vessel mines detection system according to claim 1 wherein, the side scan and shallow profile sonar (4) includes a side scan sonar and a shallow profiler mounted on the fish, detects the submerged mines and the buried mines on both sides of the unmanned surface vessel (1).
5. An unmanned surface vehicle mine detection system according to claim 4, wherein the side scan sonar detects bottom mines on both sides of the unmanned surface vehicle (1), and the shallow profiler detects buried mines on both sides of the unmanned surface vehicle (1).
6. An unmanned ship mine detection method, characterized in that an unmanned ship mine detection system according to any one of claims 1-5 is adopted, comprising:
s1, receiving a detection instruction, and starting the unmanned ship mine detection system according to the detection instruction;
s2, respectively receiving detection signals through a forward-looking sonar (2), a multi-beam detection device (3) and a side-scan and shallow-profile sonar (4) of the unmanned ship mine detection system;
s3, transmitting signals detected by the forward-looking sonar (2), the multi-beam detection device (3) and the side-scan and shallow-profile sonar (4) to a command control center of a shore end or a mother ship for real-time analysis through a radio station on the unmanned ship (1);
and S4, the command control center judges the type and position of the mine near the unmanned ship (1) according to the detected signals.
7. The unmanned submarine mines detection method of claim 6, wherein S2 specifically includes:
the forward-looking sonar (2) continuously scans the water bottom to acquire a detection signal in front of the unmanned ship (1);
the multi-beam detection device (3) continuously scans the water bottom to obtain a detection signal below the unmanned ship (1);
the side scan and shallow profile sonar (4) continuously scans the two sides to acquire detection signals of the two sides of the unmanned ship (1).
8. The unmanned submarine mines detection method of claim 7, wherein S3 specifically includes:
according to the signals detected by the forward-looking sonar (2), determining whether an anchor mine and a floating mine exist in front of the unmanned ship (1) or not and the position, size and shape of the anchor mine and the floating mine;
determining whether an anchor mine and a submerged mine and the position, the size and the form of the anchor mine and the submerged mine exist below the unmanned ship (1) according to signals detected by the multi-beam detection device (3);
and determining whether the two sides of the unmanned ship (1) have the bottom-submerged mines and the buried mines and the positions, the sizes and the forms of the bottom-submerged mines and the buried mines according to signals detected by the side-scanning and shallow-profile sonar (4).
9. The unmanned ship mines detection method according to claim 8, wherein the existence of the bottom mines and the orientation, size and shape of the bottom mines on both sides of the unmanned ship (1) are determined according to the signals detected by the side scan sonar of the side scan and shallow profile sonar (4), and the existence of the buried mines and the orientation, size and shape of the buried mines on both sides of the unmanned ship (1) are determined according to the signals detected by the shallow profiler of the side scan and shallow profile sonar (4).
10. The unmanned ship mines detection method according to any of claims 6-9, further comprising S5, directing the control center to control the sailing trajectory of the unmanned ship (1) according to the type of mine detected and the orientation, size and form of the mine.
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| CN113433535A (en) * | 2021-06-23 | 2021-09-24 | 中国舰船研究设计中心 | Sonar transducer cabin suitable for unmanned ship |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113433535A (en) * | 2021-06-23 | 2021-09-24 | 中国舰船研究设计中心 | Sonar transducer cabin suitable for unmanned ship |
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