CN107132580A - The detection system of submarine target - Google Patents
The detection system of submarine target Download PDFInfo
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- CN107132580A CN107132580A CN201710297191.6A CN201710297191A CN107132580A CN 107132580 A CN107132580 A CN 107132580A CN 201710297191 A CN201710297191 A CN 201710297191A CN 107132580 A CN107132580 A CN 107132580A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/862—Combination of radar systems with sonar systems
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/12—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with electromagnetic waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
- H04B13/02—Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
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- Radar, Positioning & Navigation (AREA)
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- General Life Sciences & Earth Sciences (AREA)
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- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention provides a kind of detection system of submarine target, it is related to detection technology field, the detection system includes：Floating node, auxiliary detector and undersea detection sensor under water, undersea detection sensor is arranged on floating node and under water auxiliary detector；The quantity of floating node is at least one, each floating node can swim in the water surface, and at least one floating node carries out communication with communication target waterborne and/or underwater communication target according to default network topology structure and coupled, wherein, floating node is detected by undersea detection sensor to undersea detection target；Auxiliary detector is correspondingly arranged with least one floating node under water, and the connection that communicated with least one floating node, wherein, auxiliary detector is used to aid in floating node to detect undersea detection target under water, alleviates the limited technical problem of the search coverage of existing undersea detection device.
Description
Technical field
The present invention relates to the technical field of space exploration, more particularly, to a kind of detection system of submarine target.
Background technology
With the development of the communication technology and Detection Techniques, land detection gradually develops to subsurface communication, for example, habitata
Technology, wherein, habitata technology can help people to further appreciate that environments such as subsea.In existing habitata technology,
Main to use soundd navigation and ranging, submarine etc. performs the undersea detection task of correlation.But, soundd navigation and ranging is generally required in phase
Close and related undersea detection task is performed under the control of operating personnel, therefore, soundd navigation and ranging has certain detection condition, example
Such as, soundd navigation and ranging can only be detected in the shallower seabed of depth, and deeper seabed can not be detected.Submarine can
Deep-sea is detected, but the investigative range of a submarine is limited, it is impossible to all standing is realized to seabed, can only be to cell
Domain is detected, if realizing all standing in seabed by submarine, then be accomplished by wasting substantial amounts of financial resources and time.Therefore,
Based on above mentioned problem, marine site all standing can not be realized by existing undersea detection technology, therefore, detection or piece to ocean
Face.
For it is above-mentioned the problem of, effective solution is not yet proposed at present.
The content of the invention
It is an object of the invention to provide a kind of detection system of submarine target, to alleviate existing undersea detection device
The limited technical problem of search coverage.
One side according to embodiments of the present invention there is provided a kind of detection system of submarine target, including：Floating section
Point, auxiliary detector and undersea detection sensor under water, the undersea detection sensor is arranged on the floating node and described
Under water on auxiliary detector；The quantity of the floating node is at least one, and each floating node can swim in the water surface
On, and at least one described floating node is according to default network topology structure and communication target waterborne and/or underwater communication target
Communication connection is carried out, wherein, the floating node is detected by the undersea detection sensor to undersea detection target；Institute
Auxiliary detector under water is stated to be correspondingly arranged with floating node at least one described, and the connection that communicates with floating node at least one described
Connect, wherein, the auxiliary detector under water is used to aid in the floating node to detect the undersea detection target.
Further, the auxiliary detector under water includes：At least one set of auxiliary detector under water, it is auxiliary under water described in every group
Detector is helped to be arranged on the lower section of the water surface, each floating node is correspondingly arranged auxiliary spy under water described in one group
Device is surveyed, wherein, auxiliary detector is used to detect floating node institute corresponding with the auxiliary detector under water under water described in every group
The interior zone of the default moving area of category, auxiliary detector part phase under water described in each floating node is corresponding one group
It is same or entirely different.
Further, auxiliary detector includes under water described in every group：One or more submersible, each submersible
Moved under water according to target motion track, wherein, the movement that it is the submersible setting in advance that the target motion track, which is,
Track independently calculate obtained motion track, and the motion track of submersible described in any two for the submersible
Part is identical or differs completely.
Further, the detection system also includes：Positioner, wherein, the positioner is installed on each described
On floating node, for detecting current floating node location on the water surface in real time, when positioner detection
When outside the default moving area being located to the location belonging to the current floating node, then the current drift is controlled
Floating node is automatically moved into the default moving area belonging to the current floating node；And/or, the positioner is arranged on
Described in every group under water on auxiliary detector, for monitor in real time it is current every group described in auxiliary detector residing position under water under water
Put.
Further, the detection system also includes：Charging device, the charging device is arranged at least one described drift
On floating node, for being charged for the auxiliary detector under water.
Further, at least one described floating node includes：Middle floating node, wherein, the middle floating node
Quantity be one or more, the middle floating node is used for the data transfer that detects target floating node to monitoring
Stand, wherein, the target floating node is the floating at least one described floating node in addition to the middle floating node
Node.
Further, the detection system also includes：First marine communication device, the first marine communication device is installed
On each target floating node or in the communication target waterborne, for realizing current goal floating node
Communication between the communication target waterborne couples；Second marine communication device, the second marine communication device is arranged on
On each middle floating node, for realizing that the communication between the middle floating node and the target floating node joins
Connect, and realize that the middle floating node couples with the communication between the monitoring station.
Further, the detection system also includes：Radio detection device, for detecting detection target waterborne, wherein,
The radio detection device is arranged at least one described floating node according to following any set-up mode：At least one
The fraction floats node of the floating node is correspondingly arranged one or more radio detection devices, described at least one
Whole floating nodes in floating node are correspondingly arranged one or more radio detection devices；The detection mesh waterborne
Mark includes at least one of：Balloon, dirigible, unmanned plane, satellite.
Further, the default network topology structure includes at least one of：Chain topology, cellular topology knot
Structure, fully connected topology, stelliform connection topology configuration and tree topology.
Further, the detection system also includes：Underwater acoustic waveguide axle communicator, the underwater acoustic waveguide axle communicator
The lower section of the floating node is arranged on, for realizing that the communication between current floating node and the underwater communication target joins
Connect, wherein, the underwater communication target includes following at least one：Installed in other in addition to the current floating node
Underwater acoustic waveguide axle communicator on floating node, underwater ship, underwater robot.
In the detection system of submarine target provided in an embodiment of the present invention, including floating node, auxiliary detector under water
With undersea detection sensor；Wherein, undersea detection sensor is arranged on floating node and under water auxiliary detector.At least one
Floating node can be swum on the water surface, and at least one floating node is according to default network topology structure and communication target waterborne
And/or the connection of underwater communication destinations traffic, the floating node can be by undersea detection sensor to the progress of undersea detection target
Detection；Auxiliary detector is correspondingly arranged with least one floating node under water, and its connection that can be communicated with least one, under water
Auxiliary detector is used to aid in floating node to detect undersea detection target.Using at least one above-mentioned floating node and water
Lower auxiliary detector is detected to upper detection target under water, can realize the comprehensive deployment to region under water, Jin Erda
Search coverage to the comprehensive purpose detected to undersea detection target, and then the existing undersea detection device of alleviation has
The technical problem of limit.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The accompanying drawing used required in embodiment or description of the prior art is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 be according to embodiments of the present invention in a kind of schematic diagram of the detection system of optional submarine target；
Fig. 2 be according to embodiments of the present invention in another optional submarine target with cellular topology detection system
The schematic diagram of system；
Fig. 3 be according to embodiments of the present invention in another optional submarine target detection system schematic diagram；
Fig. 4 be according to embodiments of the present invention in another optional submarine target detection system schematic diagram.
Embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify description, rather than indicate or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicating or implying relative importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
There is provided a kind of embodiment of the detection system of submarine target according to embodiments of the present invention.
In embodiments of the present invention, as shown in figure 1, the detection system of the submarine target includes：Floating node 10, it is auxiliary under water
Help detector 20 and undersea detection sensor 30.Wherein it is possible to be set on floating node 10 and under water auxiliary detector 20 simultaneously
Put undersea detection sensor 30.
The quantity of floating node is at least one, and each floating node can swim in the water surface, and at least one floating section
Point carries out communication with communication target waterborne and/or underwater communication target according to default network topology structure and coupled, wherein, floating section
Point is detected by undersea detection sensor to undersea detection target, any two floating section at least one floating node
Point according to partially overlapping or misaligned default moving area is moved completely.
, can be with it should be noted that the water surface described in following embodiments of the invention can be the water surface in lake
For the sea of ocean.
Above-mentioned floating node can also be arranged on islands and reefs in addition to being arranged on the water surface.For example, first across the sea
One or more region is selected as the laying region of the detection system of the submarine target, if in this region comprising a lot
Islands and reefs, can be first it is contemplated that install floating node on islands and reefs；Then, using the islands and reefs as starting point, set across the sea
Other floating nodes are put, to ensure that the floating node on floating node and sea on islands and reefs can make up default network topology
The communication network of structure.
Further, when above-mentioned floating node is arranged on the water surface, floating node is relatively-stationary to be arranged on lake
The water surface on, or be arranged on the sea of ocean to perform the detection mission of correlation；Wherein, it is relatively fixed and refers to each drift
Floating node can be moved freely in default moving area, the area being moved to when floating node outside the default moving area
During domain, it will be automatically moved into the default moving area, detailed process will be introduced in following embodiments；Floating node
In addition to it can move freely, additionally it is possible to which fixed is arranged on the water surface, and specific set-up mode can come according to actual needs
It is determined.
It should be noted that in embodiments of the present invention, communication target waterborne includes following at least one：Land island,
Floating node in satellite, terrestrial base station, aircraft, and default network topology structure in addition to current floating node.Lead under water
Interrogating target includes following at least one：Underwater ship, underwater robot.That is, above-mentioned floating node can be with others drift
Floating node communication connection, additionally it is possible to which communicate connection with other stationary nodes waterborne, and with movement under water or non-moving
Node communication connection.
Explanation is needed further exist for, in embodiments of the present invention, floating node can be set to float tower；Wherein,
The floating tower can be swum on the water surface in lake, or is floated across the sea.
If the floating tower is set across the sea, then when marine wave is higher, the floating tower can be sunk in seawater,
And after wave process, by controlling associated power device so that itself emerges automatically.
By foregoing description, in the detection system of submarine target provided in an embodiment of the present invention, in addition under water
Auxiliary detector 20, wherein, auxiliary detector 20 is correspondingly arranged with least one floating node under water, and is floated with least one
Node communication connection, wherein, auxiliary detector is used to aid in floating node to detect undersea detection target under water.Need
Bright, the above-mentioned each floating node of expression that is correspondingly arranged is correspondingly arranged one or more auxiliary detector under water, and one
Or multiple auxiliary detectors under water are arranged on the lower section of the water surface.
Undersea detection sensor 30, wherein, undersea detection sensor is arranged on the part at least one floating node 10
On floating node or whole floating nodes, and set on auxiliary detector under water, each undersea detection sensor is used for
Undersea detection target in the default investigative range of detection.
That is, it is assumed that the quantity of at least one floating node is n, then m can be selected in n floating node
Undersea detection sensor is set on individual floating node, and each floating node in the m floating node.Wherein, n be more than
1 positive integer, m is less than n.In addition to this it is possible to be respectively provided with one on each floating node in above-mentioned n floating node
Undersea detection sensor.
In an optional embodiment, undersea detection sensor includes at least one of：Fish finder, takes the photograph under water
Picture device, seawater saliferous detection means, submarine temperatures detection means, flow monitor and under water flow detection device under water,
Wherein, fish finder is used to detect the species of the aspect shoal of fish and the quantity of each shoal of fish under water；Underwater camera device is used to clap
The video image of different aspects under water is taken the photograph, to be monitored according to video image to underwater environment；Seawater saliferous detection means is used
Salt content in detection seawater；Submarine temperatures detection means is used to detect temperature under water；Flow monitor is used under water
Detect flow velocity under water；Flow detection device is used to detect and flowed under water under water.
Fig. 1 be according to embodiments of the present invention in a kind of schematic diagram of the detection system of optional submarine target, such as Fig. 1 institutes
Show, at least one floating node 10 includes n floating node；It is same in undersea detection sensor to include n undersea detection biography
Sensor, wherein, undersea detection sensor and floating node are corresponded and set.
Further, as shown in figure 1, floating node 1 has been correspondingly arranged k auxiliary detectors under water, wherein, k is more than 1.
In addition to this it is possible to be correspondingly arranged one or more auxiliary detector under water for floating node 2, and it is floating node 3
It is correspondingly arranged one or more auxiliary detector under water.Wherein, floating node 2 and floating node are not presented as in Fig. 1
3, and the auxiliary detector under water that floating node n is correspondingly arranged.
It should be noted that each undersea detection sensor described in embodiments of the present invention can be expressed as one group of spy
Survey sensor, that is to say, that undersea detection sensor can include sensor 1, sensor 2 etc., wherein, sensor 1, sensor
2 detect different types of undersea detection target respectively.For example, sensor 1 is used to perceive environments such as subsea, and now, undersea detection mesh
Mark is environments such as subsea；Sensor 2 is used to perceive submarine, and now, undersea detection target is submarine.That is, using this
The detection system for the submarine target that inventive embodiments are provided can detect polytype undersea detection target, including, submarine, sea
Base ring border etc..
To sum up, in the detection system of submarine target provided in an embodiment of the present invention, including floating node, auxiliary spy under water
Survey device and undersea detection sensor；Wherein, undersea detection sensor is arranged on floating node and under water auxiliary detector.At least
One floating node can be swum on the water surface, and at least one floating node is according to default network topology structure and communication waterborne
Target and/or the connection of underwater communication destinations traffic, the floating node can be by undersea detection sensor to undersea detection target
Detected；Auxiliary detector is correspondingly arranged with least one floating node under water, and its connection that can be communicated with least one,
Auxiliary detector is used to aid in floating node to detect undersea detection target under water.Using at least one above-mentioned floating node
Auxiliary detector is detected to upper detection target under water under water, can be realized the comprehensive deployment to region under water, be entered
And the comprehensive purpose detected to undersea detection target has been reached, and then alleviate the detecting area of existing undersea detection device
The limited technical problem in domain.
The embodiment of the present invention is described in detail below in conjunction with such as 2 to Fig. 4.
In an optional embodiment of the embodiment of the present invention, above-mentioned default network topology structure include it is following at least it
One：Chain topology, cellular topology, fully connected topology, stelliform connection topology configuration and tree topology.
That is, in embodiments of the present invention, can be only with ring topology；Can also be only with honeycomb
Topological structure；Mixed type topological structure, i.e., the combination of above-mentioned any two kinds or three kinds topological structures can also be used.
The detection system to above-mentioned submarine target by taking cellular topology as an example is introduced below.
Fig. 2 be according to embodiments of the present invention in it is another alternatively with cellular topology submarine target detection system
The schematic diagram of system, as shown in Fig. 2 symbol " 1 " to symbol " 39 " is represented as floating node, each symbol is expressed as a floating
Node.From figure 2 it can be seen that 39 floating nodes constitute the honeycomb fully connected topology of equilateral triangle.
It should be noted that floating node 34 can (that is, floating node 1 to floating be saved with 6 floating nodes around it
Point 6) communication connection respectively, to separately constitute 6 equilateral triangles, specifically, not shown floating node 34 and floating in fig. 2 is saved
1 is put to the connecting relation between floating node 6.Similarly, floating node 31, floating node 32, floating node 33, floating node
35, floating node 36, floating node 37, floating node 38 and floating node 39 can be with 6 floating nodes around it point
It Tong Xin not couple, specifically, couple pass between not shown above-mentioned floating node and six floating nodes around it in fig. 2
System.
In the detection system of submarine target as shown in Figure 2, floating node 1 being capable of or nothing wired with floating node 2
Line couples, and floating node 1 can also simultaneously with floating node 5 is wired or wireless connections；Floating node 5 can also be simultaneously
With floating node 7 and floating node 6 be wired or wireless connections.Therefore, floating node 1 can just pass through floating node 5 and drift
The floating indirect communication of node 7 connection.
That is, in the schematic diagram of cellular topological structure as shown in Figure 2, any two floating node can
Communication connection, specifically includes direct communication connection and indirect communication connection.That is, in the cellular topology, each floating
Node all there are data to originate the function of sending, and serve as the function of middle floating node.
That is, in an optional embodiment, at least one floating node includes：Middle floating node, its
In, the quantity of middle floating node is one or more, and middle floating node is used for the number for detecting target floating node
According to transmitting to monitoring station, wherein, target floating node is the floating in addition to middle floating node at least one floating node
Node.
For example, in schematic diagram as shown in Figure 2, a floating can be selected into floating node 39 in floating node 1
Node is used as middle floating node.For example, selection floating node 1 is used as middle floating node, then now, floating node 1
Main function is exactly that the detection information of itself, and the detection information of floating node 2 to floating node 39 are forwarded into ground prison
Control station, so that ground monitoring station carries out decision-making according to above-mentioned detection information.
In another example, in schematic diagram as shown in Figure 2,2 floatings can be selected into floating node 39 in floating node 1
Node is used as middle floating node.For example, selection floating node 1 and floating node 2 are used as middle floating node.Wherein, float
Node 1 is used to the detection information of floating node 3 to floating node 20 being forwarded to ground monitoring station；Floating node 2 is used for will drift
The detection information of floating node 21 to floating node 39 is forwarded to ground monitoring station, so that ground monitoring station is carried out according to detection information
Decision-making.
Fig. 3 be according to embodiments of the present invention in another optional submarine target detection system schematic diagram.Wherein, exist
In Fig. 3, illustrated by taking a floating node as an example.
In another optional embodiment of the embodiment of the present invention, the detection system of the submarine target also includes：Dinghai
Stick together, wherein, Dinghai sticks together to be connected by hawser with floating node.
In the detection system of submarine target as shown in Figure 3, an anchor line is provided with the lower section of floating node and is fixed
Mechanism 1, wherein, the anchor line fixed mechanism can be selected as retainer ring.Consolidate wherein it is possible to which the two ends of hawser are connected into this
Ring is determined and on Dinghai sticks together, to realize that floating node can keep being relatively fixed in water.
Using Dinghai stick together realization floating node is relatively fixed, be applicable not only to neritic province domain, apply also for abysmal area
Domain, therefore, the possibility overlay area of the detection system of above-mentioned submarine target is expanded by the set-up mode.
In another optional embodiment of the embodiment of the present invention, the detection system also includes：Radio detection device,
Wherein, radio detection device can be radar, and the radar is used to detect detection target waterborne, wherein, radio detection device
It is arranged on according to following any set-up mode at least one floating node：The fraction floats node of at least one floating node
The whole floating nodes being correspondingly arranged in one or more radio detection devices, at least one floating node are correspondingly arranged
One or more radio detection devices；Detection target waterborne includes at least one of：Balloon, dirigible, unmanned plane, satellite,
Aquatic environment.
It should be noted that when floating node 1 performs detection mission, if the detection sensor (example of floating node 1
Such as, radio detection device or undersea detection sensor) failure is there occurs, and then when can not perform detection mission, Ke Yitong
Following two modes are crossed to ask other floating node collaboration floating nodes 1 to perform detection mission.
Mode one
Earthward monitoring station sends request message, wherein, the request message floats section to ask other floating nodes to cooperate with
Point 1 performs the request of detection mission.Ground monitoring station upon receipt of the request, according to the work shape of remaining floating node
State, and the distance of remaining floating node and floating node 1 determine a floating node, for example, determining floating node 2, indicate
The collaboration floating node 1 of floating node 2 performs detection mission.
Mode two
In addition, floating node 1 directly can also send request message to floating node 2, to ask floating node 2 to be assisted
Detection mission is performed with floating node 1, if floating node 2 is agreed to, collaboration floating node 1 is performed into the detection mission.
It should be noted that can be determined to select aforesaid way one according to the urgency level of performed detection mission,
Or select aforesaid way two.If performed detection mission is not high to time requirement, then can ask in ground monitoring
Allocated；If requirement of the performed detection mission to the time is high, then directly can be sent to other floating nodes please
Ask.
In another optional embodiment of the embodiment of the present invention, the above-mentioned detection system also includes：Positioner.
As shown in figure 3, the region being located in floating node above the water surface is referred to as in region waterborne, floating node being located at the water surface
The region of lower section is referred to as region under water.Above-mentioned positioner is the region waterborne for being installed on each floating node, and positioner is used
In detecting current floating node the location of on the water surface in real time；
Wherein, outside positioner detects the default moving area that location is located at belonging to current floating node
When, then control current floating node to be automatically moved into the default moving area belonging to current floating node.
Wherein, above-mentioned positioner is preferably global pick device (Global Positioning System, abbreviation
) or big-dipper satellite positioner (following be referred to as the Big Dipper) GPS.Can be in real time to current floating node by the positioner
Position coordinates detected.
The location on the water surface is sent to peace in real time by the current floating node detected for GPS or Big Dipper positioner
Processor on current floating node.Processor after the positional information is got, by the positional information got with
The default moving area of the current floating node is compared.If comparative result, which is current floating node, is located at default turnover zone
Region outside domain, processor will send move to power resetting means, so that power resetting means drives current floating
In node motion to default moving area.
It should be noted that by foregoing description, a processor can be provided with each floating node,
To perform the location tasks of itself by each floating node.In addition to this it is possible to complete related by middle floating node
Processing operation, for example, other floating nodes by middle floating node by itself the location of send to ground monitoring station,
So that whether ground monitoring station determines floating node in affiliated default moving area according to location.
It is assumed that in 39 floating nodes as shown in Figure 1, regarding floating node 23 as middle floating node.Floating section
Point 2 is detected on the water surface after location in the positioner by itself, and the location is sent into centre
Floating node 23, so that the position is sent to ground monitoring station by middle floating node 23.Ground monitoring station is residing according to this
Position determines whether floating node 2 is located in its default moving area, wherein, if it is judged that to be not located at its pre- for floating node 2
If in moving area, then corresponding instruction is sent to floating node 2 by middle floating node 23, so that floating node 2 is automatic
Return in its default moving area.
It should be noted that in embodiments of the present invention, middle floating node is not changeless, middle floating node
Dynamic select can be realized, specifically, data transfer of the ground monitoring station according to path between any two node can be passed through
Performance determines optimal middle floating node.
In another optional embodiment of the embodiment of the present invention, auxiliary detector includes under water：At least one set is under water
Auxiliary detector, wherein, every group under water auxiliary detector can be arranged on the lower section of the water surface.As shown in figure 3, each floating node
Be correspondingly arranged one group of auxiliary detector under water, wherein, every group under water auxiliary detector be used to detect and auxiliary detector under water
The interior zone of default moving area belonging to corresponding floating node, the corresponding one group of aided detection under water of each floating node
Device part is identical or entirely different.
Wherein, every group under water auxiliary detector include：One or more submersible, each submersible is moved according to target
Track is moved under water, wherein, target motion track is to be in advance the motion track of submersible setting or is that submersible is carried out
Independently calculate obtained motion track, and the motion track part of any two submersible is identical or differ completely.
Specifically, in order to improve the detection accuracy of floating node, and extension floating node search coverage, can be every
Individual floating node is respectively provided with the auxiliary detector under water that one group of part is identical or differs completely, wherein, this aids in visiting under water
Surveying device includes at least one submersible.
It should be noted that being the number for the auxiliary detector under water that each floating node is equipped with embodiments of the present invention
Amount can be with identical, can be with difference.Dived for example, 5 can be included in auxiliary detector under water for one group that floating node 2 is equipped with
Hydrophone；It can include 6 submersibles in auxiliary detector under water for one group that floating node 3 is equipped with.Wherein it is possible to according to each
The significance level of floating node come be defined as its outfit submersible quantity.
Explanation is needed further exist for, because the significance level of floating node is nor changeless, therefore, it can root
According to the performance of each floating node, detection accuracy and transmission rate adjust to enter Mobile state.
Specifically, as shown in figure 4, Fig. 4 be according to embodiments of the present invention in another optional submarine target detection system
The top view of system, in the top view, is illustrated by taking a floating node as an example.Figure 4, it is seen that being each floating
Node has been correspondingly arranged 6 submersibles, and 6 submersibles are evenly distributed on around corresponding floating node, wherein, 6 divings
Each submersible is moved according to respective motion track in device.
It should be noted that the motion track of any two submersible partially overlaps, or, it is completely misaligned.
Explanation is needed further exist for, above-mentioned 6 submersibles can be arranged in the region of different water depth, for example, will
Submersible 1 is arranged at a meters of the water surface, and submersible 2 is arranged at b meters of the water surface, submersible 3 is arranged on apart from water
At face c meters, submersible 4 is arranged at d meters of the water surface, submersible 5 is arranged at e meters of the water surface, submersible 6 is set
Put at water surface f rice, wherein, a, b, c, d, e and f increase or are sequentially reduced successively.
Wherein, in addition to 6 submersibles are set for each floating node, 5 can also be set for each floating node,
4,3,2, and 1 submersible, particular number can be determined according to actual needs.
Wherein, can also on every group under water auxiliary detector mounting and positioning device, the positioner be used in real time monitor
Current every group under water auxiliary detector the location of under water, and auxiliary detector is the location of under water under water by every group
It is uploaded to ground monitoring station.
In another optional embodiment of the embodiment of the present invention, charging device is additionally provided with floating node, its
In, charging device includes solar energy storage device and charging pile, and the solar energy storage device is used to convert solar energy into electrical energy
And stored；Charging pile is used to be charged for submersible.When submersible not enough power supply, it can be automatically moved into it most
Charged near floating node, or be moved at the floating node with its supporting setting and charged.
In another optional embodiment of the embodiment of the present invention, the detection system also includes：First marine communication is filled
Put and the second marine communication device.
First marine communication device is arranged on each target floating node or installed in communication target on the water, is used for
Realize that the communication between current goal floating node and communication target waterborne couples, wherein, target floating node is at least one
Floating node in floating node in addition to middle floating node.
Second marine communication device is arranged in the middle of each on floating node, for realizing that middle floating node floats with target
Communication connection between floating node, and realize that the communication between middle floating node and monitoring station couples.
Specifically, in embodiments of the present invention, it can be respectively mounted on target floating node or communication target waterborne
First marine communication device, and the second marine communication device is installed on middle floating node.
Wherein, target floating node can be communicated connection by first communication device with other target floating nodes, and
Coupled by first communication device with communication destinations traffic waterborne, and communicated by first communication device with middle floating node
Connection.Middle floating node can be communicated connection by secondary communication device with target floating node, and pass through the second communication
Communicate connection between device and ground monitoring station.
In another optional embodiment of the embodiment of the present invention, the communicator includes：Underwater acoustic waveguide axle communication dress
Put.
Wherein, underwater acoustic waveguide axle communicator is arranged on the lower section of floating node, for realizing current floating node and water
Communication connection between lower communication target, wherein, underwater communication target includes following at least one：Installed in except when preceding floating
Underwater acoustic waveguide axle communicator on other floating nodes outside node, underwater ship, underwater robot.
In another optional embodiment of the embodiment of the present invention, the detection system of submarine target also includes：The hydrology is visited
Survey device and processor.
Hydrology detection device, is arranged on each floating node, for the spy in the affiliated investigative range of current floating node
Hydrographic information is surveyed, and hydrographic information is sent to controller, wherein, hydrographic information includes following at least one：The height of water wave,
The cycle of water wave, the direction of water wave.
Processor, processor is arranged at least one floating node, for determining that current floating is saved according to hydrographic information
Point rocks amplitude, wherein, when determine the amplitude of rocking be more than it is default rock amplitude when, to stabilizer send what is brought into operation
Instruction, amplitude is rocked with reduce current floating node.
Specifically, due to the particular surroundings of ocean, floating node may be with wave above and below, roll, for a long time
Rock and the stability of floating node can be affected.Now, it is possible to by hydrology detection device come to ocean
Monitored in real time, for example, the height of monitoring wave, the cycle of wave, direction of wave etc..Now, processor just can be with
Determined whether to open stabilizer according to above-mentioned hydrographic information.Wherein, when determining stabilizer to be opened, it can be shaken to subtracting
Device sends sign on, to reduce the amplitude of rocking of floating node, the stability of the holding floating node of longer time.
In another optional embodiment of the embodiment of the present invention, auxiliary detector can be sonar, the sonar under water
It is arranged on the lower section of each floating node, i.e. the region under water shown in Fig. 3, the sonar is used to realize water-bed communication.
If the setting relation of each floating node and auxiliary detector under water is setting relation as shown in Figure 4, then
Auxiliary detector under water can be respectively provided with each submersible, wherein, the auxiliary under water set in different submersibles is visited
Surveying the effect of device be able to can also be differed with identical.For example, auxiliary detector 1 under water can be set in submersible 1, wherein,
This under water auxiliary detector 1 be used for environments such as subsea is detected；Auxiliary detector 2 under water can also be set in submersible 2,
Wherein, this under water auxiliary detector 2 be used for detect diving under water device.
, wherein it is desired to explanation, if the quantity of submersible is multiple, for example, 6 as shown in Figure 4, then can
To select a submersible in multiple submersibles as transfer submersible, the transfer submersible is used to carry out with other submersibles
Communication, and the detection data itself detected with other submersibles, the transfer submersible are sent to the floating node of supporting setting
The instruction for being additionally operable to send floating node is transmitted to corresponding submersible.
In another optional embodiment of the embodiment of the present invention, on each floating node, in addition to signal designation
Lamp, the signal lamp is used for the ship direction indication on the water surface for navigation；The signal lamp is additionally operable to information alert, example
Such as, when the signal lamp flashes, represent dangerous near the floating node, at this point it is possible to point out the ship of passing navigation
Oceangoing ship where there is danger.
Further it should be noted that the detection system of submarine target provided in an embodiment of the present invention can also be with that can join
The communication base station in satellite within scope, airship, water craft, land is connect, marine floating tower performs correlation detection and appointed jointly
Business.
By setting the detection system of the submarine target on the default water surface, especially on sea, it can solve the problem that traditional
Beacon is necessarily dependent upon the defect of islands and reefs setting, and undersea detection device the limited technical problem of search coverage.The present invention
Floating node in the detection system for the submarine target that embodiment is provided has relative immobility, can be within the scope of one back and forth
It is mobile, and remain and be relatively fixed so that undersea detection sensor is more flexible.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. a kind of detection system of submarine target, it is characterised in that including：Floating node, auxiliary detector and is visited under water under water
Sensor is surveyed, the undersea detection sensor is arranged on the floating node and the auxiliary detector under water；
The quantity of the floating node is at least one, and each floating node can be swum on the water surface, and at least one
The floating node carries out communication with communication target waterborne and/or underwater communication target according to default network topology structure and coupled,
Wherein, the floating node is detected by the undersea detection sensor to undersea detection target；
The auxiliary detector under water is correspondingly arranged with floating node at least one described, and with floating node at least one described
Communication connection, wherein, the auxiliary detector under water is used to aid in the floating node to visit the undersea detection target
Survey.
2. detection system according to claim 1, it is characterised in that the auxiliary detector under water includes：
At least one set of auxiliary detector under water, auxiliary detector can be arranged on the lower section of the water surface under water described in every group, often
The individual floating node is correspondingly arranged described in one group auxiliary detector under water, wherein, auxiliary detector is used under water described in every group
It is each described in the interior zone for detecting the default moving area belonging to floating node corresponding with the auxiliary detector under water
Auxiliary detector part is identical or entirely different under water described in floating node is corresponding one group.
3. detection system according to claim 2, it is characterised in that auxiliary detector includes under water described in every group：
One or more submersible, each submersible is moved under water according to target motion track, wherein, the target
Motion track is to be in advance the motion track of the submersible setting or is that the submersible progress independently calculates obtained shifting
Dynamic rail mark, and the motion track part of submersible described in any two is identical or differ completely.
4. detection system according to claim 2, it is characterised in that the detection system also includes：
Positioner, wherein, the positioner is installed on each floating node, for detecting current floating section in real time
Point location on the water surface, wherein, when the positioner detects the location positioned at described current
When outside the default moving area belonging to floating node, then the current floating node is controlled to be automatically moved into the current floating
In default moving area belonging to node；And/or
The positioner is arranged on described in every group under water on auxiliary detector, for monitor in real time it is current every group described in it is auxiliary under water
Help detector location under water.
5. detection system according to claim 1, it is characterised in that the detection system also includes：
Charging device, the charging device is arranged at least one described floating node, for for the aided detection under water
Device is charged.
6. detection system according to claim 1, it is characterised in that at least one described floating node includes：
Middle floating node, wherein, the quantity of the middle floating node is one or more, and the middle floating node is used
In the data transfer for detecting target floating node to monitoring station, wherein, the target floating node is described at least one
Floating node in floating node in addition to the middle floating node.
7. detection system according to claim 6, it is characterised in that the detection system also includes：
First marine communication device, the first marine communication device is arranged on each target floating node or installed
In the communication target waterborne, for realizing that the communication between current goal floating node and the communication target waterborne joins
Connect；
Second marine communication device, the second marine communication device is arranged on each middle floating node, for reality
Existing communication between the middle floating node and the target floating node couple, and realize the middle floating node and
Communication connection between the monitoring station.
8. detection system according to claim 1, it is characterised in that the detection system also includes：
Radio detection device, for detecting detection target waterborne, wherein, the radio detection device is according to following any
Set-up mode is arranged at least one described floating node：The fraction floats node of at least one floating node is corresponded to
Set whole floating nodes in one or more radio detection devices, at least one described floating node to correspond to set
Put one or more radio detection devices；The detection target waterborne includes at least one of：Balloon, dirigible, nothing
It is man-machine, satellite.
9. detection system according to claim 1, it is characterised in that the undersea detection sensor include it is following at least it
One：Fish finder, underwater camera device, seawater saliferous detection means, submarine temperatures detection means, under water flow monitor
Flow detection device under water, wherein,
The fish finder is used for the quantity for detecting the species of the aspect shoal of fish under water and each shoal of fish；
The underwater camera device is used for the video image for shooting different aspects under water, with according to the video image to ring under water
Border is monitored；
The seawater saliferous detection means is used to detect the salt content in seawater；
The submarine temperatures detection means is used to detect temperature under water；
The flow monitor under water is used to detect flow velocity under water；
The device of flow detection under water is used to detect to be flowed under water.
10. detection system according to claim 1, it is characterised in that the detection system also includes：
Underwater acoustic waveguide axle communicator, the underwater acoustic waveguide axle communicator is arranged on the lower section of the floating node, for reality
Now the communication between current floating node and the underwater communication target couples, wherein, the underwater communication target includes following
It is at least one：Underwater acoustic waveguide axle communicator on other floating nodes in addition to the current floating node,
Underwater ship, underwater robot.
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| CN201710297191.6A CN107132580A (en) | 2017-04-28 | 2017-04-28 | The detection system of submarine target |
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