CN107135099A - Space exploration device and system waterborne - Google Patents
Space exploration device and system waterborne Download PDFInfo
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- CN107135099A CN107135099A CN201710297192.0A CN201710297192A CN107135099A CN 107135099 A CN107135099 A CN 107135099A CN 201710297192 A CN201710297192 A CN 201710297192A CN 107135099 A CN107135099 A CN 107135099A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/12—Discovery or management of network topologies
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18519—Operations control, administration or maintenance
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Abstract
The present invention proposes a kind of space exploration device and system waterborne, is related to the technical field of space exploration, and the space exploration device waterborne includes：One or more floating nodes, one or more floating nodes swim in the water surface, and multiple floating nodes carry out communication with communication target waterborne and/or underwater communication target according to default network topology structure and coupled, wherein, moved freely in the default moving area that each floating node can be on the water surface, and the default moving area of any two floating node partially overlaps or completely misaligned, improves the detectivity of existing waters detection device.
Description
Technical field
The present invention relates to the technical field of space exploration, more particularly, to a kind of space exploration device and system waterborne.
Background technology
The network node of Traditional Space information network includes base station, satellite, submarine, sea marker, aircraft and radar
Stand.Network node in Information Network is mainly to sea, the land detection mission related to empty execution.For example, satellite is main
Being detected to the earth or the moon for task is performed in space；Submarine mainly performs the detection mission of correlation in ocean；
Sea marker mainly performs the task of correlation in ocean, for example, defence, illumination etc. of escorting.But, it is special due to ocean
Property, the setting of sea marker or offshore beacon has certain restrictive condition, for example, sea marker can only be fixed on some position
Put, for example, be fixed on islands and reefs, to perform inter-related task.Therefore, the reasonability of the distribution of navigation mark is poor, and detection often occurs
Blind area.
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 space exploration device and system waterborne, filled with alleviating existing detection waterborne
Put the relatively low technical problem of detectivity.
There is provided a kind of space exploration device waterborne, the space exploration device waterborne for the one side of the embodiment of the present invention
Including：One or more floating nodes, one or more floating nodes swim in the water surface, and multiple floating nodes are pressed
Communication is carried out according to default network topology structure with communication target waterborne and/or underwater communication target to couple, each floating section
Moved freely in the default moving area that point can be on the water surface, and the default shifting of floating node described in any two
Dynamic region partially overlaps or completely misaligned.
Further, the space exploration device waterborne also includes：Positioner, wherein, the positioner is installed on
On each floating node, for detecting current floating node location on the water surface in real time, when the positioning
When device is detected outside the location of described default moving area positioned at belonging to the current floating node, then institute is controlled
Current floating node is stated to be automatically moved into the default moving area belonging to the current floating node.
Further, the space exploration device waterborne also includes：Ding Haituo, described Dinghai sticks together by hawser and the drift
Floating node is connected；Power resetting means, the power resetting means is arranged on each floating node, for described
When location is located at outside the default moving area belonging to the current floating node, the current floating node is controlled certainly
It is dynamic to be moved in the default moving area belonging to the current floating node.
Further, the space exploration device waterborne also includes：At least one set of undersea detection device, described in every group under water
Detection device can be arranged on the lower section of the water surface, and each floating node is correspondingly arranged undersea detection described in one group and filled
Put, wherein, undersea detection device described in every group is used to detect pre- belonging to floating node corresponding with the undersea detection device
If the interior zone of moving area, undersea detection device part described in each floating node is corresponding one group is identical or complete
It is complete different.
Further, undersea detection device includes described in every group：One or more submersible, wherein, it is each described latent
Hydrophone is moved under water according to target motion track, wherein, it is what the submersible was set in advance that the target motion track, which is,
Motion track independently calculate obtained motion track, and the movement of submersible described in any two for the submersible
Path portion is identical or differs completely.
Further, the space exploration device waterborne also includes：Detection sensor, the detection sensor is used for real-time
Detection target is detected, wherein, the detection target includes at least one of：Overwater flight device, diving outfit, the water surface
Ship.
Further, the detection sensor includes：First detection sensor, wherein, the first detection sensor peace
The top of lower section and/or each floating node loaded on each floating node；Second detection sensor, described second
Detection sensor is arranged on described in every group on undersea detection device.
Further, the space exploration device waterborne also includes：Marine communication device, the marine communication device is installed
On each floating node or in the communication target waterborne, for realizing current floating node and the water
Communication connection between upper communication target, wherein, the communication target waterborne includes following at least one：Target floating node,
Land island, satellite, terrestrial base station, aircraft, the target floating node be the default network topology structure in it is described work as
The preceding joining node of floating node.
Further, space exploration device waterborne also includes：Underwater acoustic waveguide axle communicator, the underwater acoustic waveguide axle communication
Device is arranged on the lower section of the floating node, for realizing between the current floating node and the underwater communication target
Communication connection, wherein, the underwater communication target includes following at least one：Underwater ship, underwater robot.
The other side of the embodiment of the present invention, additionally provides a kind of space exploration system waterborne, the space exploration waterborne
The space exploration device waterborne and detection target of system including foregoing description, wherein, the detection target include it is following at least it
One：Overwater flight device, diving outfit and water craft.
In space exploration device waterborne provided in an embodiment of the present invention, including multiple floating nodes, multiple floating nodes
Swim in the water surface, and multiple floating nodes communicate according to default network topology structure and coupled, wherein, each floating node can be
Moved freely in default moving area on the water surface, and any two floating node default moving area partially overlap or
Person is completely misaligned.By above-mentioned set-up mode, the rational deployment of floating node can be realized, the space networks being evenly distributed are set up
Network system, improves the detectivity of existing waters detection device, and then alleviates existing detection effect waterborne
Really poor technical problem, has reached the purpose precisely detected to offshore environment.
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 is the space exploration device that the first according to embodiments of the present invention one alternatively has cellular topology
Schematic diagram；
Fig. 2 is the schematic diagram of second of optional space exploration device waterborne according to embodiments of the present invention one；
Fig. 3 is the top view of optional space exploration device waterborne according to embodiments of the present invention one；
Fig. 4 is a kind of schematic diagram of the third optional space exploration device waterborne according to embodiments of the present invention.
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.
Embodiment one
There is provided a kind of embodiment of space exploration device waterborne according to embodiments of the present invention.
In embodiments of the present invention, the space exploration device waterborne includes：One or more floating nodes.
Wherein, one or more floating nodes swim in the water surface, and multiple floating nodes are according to default network topology structure
Couple with communication target waterborne and/or underwater communication destinations traffic, wherein, the default shifting that each floating node may be on the water surface
Moved in dynamic region, and the default moving area of any two floating node partially overlaps or completely misaligned.
Above-mentioned floating node can also be arranged on islands and reefs in addition to being arranged on the water surface or sea.So in water
On face, or when at sea arranging the space exploration device waterborne, it may be considered that specific environment to carry out cloth to floating node
Put, for example, preferably floating node can be arranged as being fixed on islands and reefs, then, other floating nodes in network are arranged
On the water surface.
When above-mentioned floating node is arranged on the water surface or sea, floating node is relatively-stationary to be arranged on the water surface
On, or be arranged on sea to perform related detection mission；Wherein, it is relatively fixed and refers to that each floating node can be
Moved freely in default moving area, will be automatic when the region outside floating node is moved to the default moving area
It is moved in the default moving area, detailed process will be introduced in following embodiments；Floating node is except can oneself
Outside movement, additionally it is possible to which fixed is arranged on the water surface, and specific set-up mode can be determined according to actual needs.
It should be noted that in embodiments of the present invention, communication target waterborne includes following at least one：Target floating section
Point, land island, satellite, terrestrial base station, aircraft, wherein, target floating node is to preset in network topology structure with currently floating
The joining node of floating node.Underwater communication target includes following at least one：Underwater ship, underwater robot.That is, on
Stating floating node can communicate connection with other floating nodes, additionally it is possible to which communicate connection with other stationary nodes waterborne, with
And the connection that communicated with movement under water or non-moving node.
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, 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 resetting means so that itself emerges automatically.
Need further exist for explanation, in embodiments of the present invention, above-mentioned default network topology structure include it is following at least
One of：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.
, will be by taking cellular topology as an example to above-mentioned space exploration in an optional embodiment of the embodiment of the present invention
Device is introduced.
Fig. 1 is a kind of schematic diagram of space exploration device with cellular topology according to embodiments of the present invention, such as
Shown in Fig. 1, symbol " 1 " to symbol " 39 " is represented as floating node, and each symbol is expressed as a floating node.From Fig. 1
As 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 device
Point 6) communication connection respectively, to separately constitute 6 equilateral triangles, specifically, not shown floating node 34 and floating in Fig. 1 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. 1
System.
In space exploration device waterborne as shown in Figure 1, floating node 1 can be wired or wireless with floating node 2
Connection, and floating node 1 can also simultaneously with floating node 5 is wired or wireless connections；Floating node 5 can also simultaneously with
Floating node 7 and floating node 6 is wired or wireless connections.Therefore, floating node 1 can just pass through floating node 5 and floating
The indirect communication of node 7 couples.
That is, in the schematic diagram of cellular topological structure as shown in Figure 1, 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 intermediate node.
In space exploration device provided in an embodiment of the present invention, including multiple floating nodes, multiple floating node floatings
In the water surface, and multiple floating nodes are according to the communication connection of default network topology structure, wherein, each floating node can be in the water surface
On default moving area in moved freely, and the default moving area of any two floating node partially overlaps or complete
It is complete misaligned.By above-mentioned set-up mode, the rational deployment of floating node can be realized, the spatial network body being evenly distributed is set up
System, improve the detectivity of existing waters detection device, and then alleviate existing detection effect waterborne compared with
The technical problem of difference, has reached the purpose precisely detected to offshore environment.
Fig. 2 is optional a kind of schematic diagram of space exploration device waterborne according to embodiments of the present invention.Wherein, in fig. 2,
Illustrated by taking a floating node as an example.
In another optional embodiment of the embodiment of the present invention, the space exploration device waterborne also includes：Ding Haituo,
Wherein, Dinghai sticks together is connected by hawser with floating node.
In space exploration device waterborne as shown in Figure 2, an anchor line is provided with the lower section of floating node and fixes machine
Structure 1, wherein, the anchor line fixed mechanism can be selected as retainer ring.Fixed wherein it is possible to which the two ends of hawser are connected into this
On ring and Dinghai stick together, to realize that floating node can keep being relatively fixed in water, wherein, Dinghai, which sticks together, is not integrally fixed at the bottom,
But swim 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 above-mentioned space exploration device waterborne is expanded by the set-up mode.
In another optional embodiment of the embodiment of the present invention, above-mentioned space exploration device also includes：Positioner.
As shown in Fig. 2 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
Central processing unit on current floating node.Central processing unit is after the positional information is got, by the position got
The default moving area of confidence breath and the current floating node is compared.It is located in advance if comparative result is current floating node
If the region outside moving area, central processing unit will send move to mobile device, so that mobile device drives currently
Floating node is moved in default moving area.
Wherein, if the location of current floating node is located at the default moving area belonging to the current floating node
Outside when, then current floating node can be controlled to be automatically moved into current floating node institute by controlling power resetting means
In the default moving area of category, to ensure being relatively fixed for floating node.
It should be noted that being that a center processing is provided with each floating node by foregoing description
Device, to perform the location tasks of itself by each floating node.In addition to this it is possible to select one in multiple floating nodes
Then individual floating node, completes related processing by the intermediate node and operates, for example, other are floated as intermediate node
The data that node is detected are sent to Surveillance center, or the request of other floating nodes is sent to the Surveillance center, and
The instruction of Surveillance center is sent to other floating nodes.
It is assumed that in 30 floating nodes as shown in Figure 1, regarding floating node 23 as intermediate node.Floating node 2 exists
Detected by the positioner of itself on the water surface after location, the location is sent to intermediate node
23, so that the position is sent to Surveillance center by intermediate node 23.Surveillance center determines floating node 2 according to the location
Whether it is located in its default moving area, wherein, if it is judged that floating node 2 is not located in its default moving area, then lead to
Cross intermediate node 23 and send corresponding instruction to floating node 2, so that floating node 2 is automatically returned in its default moving area.
It should be noted that in embodiments of the present invention, intermediate node is not changeless, and intermediate node can be realized
Dynamic select, specifically, can determine optimal intermediate node according to the data transmission performance in path between any two node.
Further, as shown in Fig. 2 symbol " 2 " in Fig. 2, the component shown in symbol " 3 " and symbol " 4 " is located at area waterborne
Domain, the area of above-mentioned component is larger, and approximate area is about 804 square metres.Above-mentioned usable area waterborne can be used for laying phased
Battle array radar antenna, for detection invisbile plane.On the usable area, solar energy storage device can also be laid (for example, too
Positive energy photovoltaic battery panel), and substantial amounts of solar photovoltaic cell panel can be laid, so as to ensure the energy of abundance.
Usable area waterborne based on floating node is larger, therefore, the height of the floating node shown in Fig. 2 it is general compared with
Height, now, installs detection sensor and during communicator on the floating node, it is possible to achieve farther detection range and farther
Communication distance.
It should be noted that in embodiments of the present invention, floating node can be made to be main by concrete and fiberglass
Floating tower, the floating tower non-recovery value, be difficult to be stolen.And because the floating tower surface is without steel, therefore be difficult by
Corrosion, projected life is about in 50 years.
Explanation is needed further exist for, in symbol as shown in Figure 2 " 2 ", multiple cabins, the plurality of cabin are provided with
For many watertight compartments, wherein, when indivedual damaged in multiple cabins, whole floating node will not also sink.
As shown in Fig. 2 in another optional embodiment of the embodiment of the present invention, the space exploration device waterborne is also wrapped
Include：At least one set of undersea detection device.
Wherein, every group of undersea detection device can be arranged on the lower section of the water surface, and each floating node is correspondingly arranged one
Group undersea detection device, wherein, every group of undersea detection device is used to detect belonging to floating node corresponding with undersea detection device
Default moving area inside region, wherein, the corresponding one group of undersea detection device part of each floating node it is identical or
It is entirely different.
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 undersea detection device that one group of part is identical or differs completely, wherein, the undersea detection device
Include at least one submersible.
It should be noted that being the quantity for the undersea detection device that each floating node is equipped with embodiments of the present invention
Can be with identical, can be with difference.For example, 5 divings can be included in one group of undersea detection device being equipped with for floating node 2
Device；6 submersibles can be included in one group of undersea detection device being equipped with for floating node 3.Wherein it is possible to according to each floating
The significance level of 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.
In another optional embodiment of the embodiment of the present invention, every group of undersea detection device includes：It is one or more
Individual submersible, each submersible is moved under water according to target motion track, wherein, it is in advance submersible that target motion track, which is,
The motion track that sets independently calculate obtained motion track, and the movement of any two submersible for submersible
Path portion is identical or differs completely.
Specifically, as shown in figure 3, Fig. 3 is a kind of bowing for optional space exploration device waterborne according to embodiments of the present invention
View, in the top view, is illustrated by taking a floating node as an example.From figure 3, it can be seen that being each floating node pair
6 submersibles should be provided with, and 6 submersibles are evenly distributed on around corresponding floating node, wherein, it is every in 6 submersibles
Individual submersible is moved according to respective motion track.
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.
In another optional embodiment of the embodiment of the present invention, solar energy storage dress is additionally provided with floating node
Put and charging pile, the solar energy storage device is used to convert solar energy into electrical energy and be stored；Charging pile is used for for diving
Device is charged.When submersible not enough power supply, it can be automatically moved on the floating node nearest with it and be charged, or
It is moved at the floating node with its supporting setting and is charged.
In another optional embodiment of the embodiment of the present invention, the space exploration device waterborne also includes：
Detection sensor, specifically, the detection sensor are used in real time detect detection target, wherein, detect mesh
Mark includes at least one of：Overwater flight device, diving outfit, above water craft.
Further, can be with outside overwater flight device, diving outfit and ship are detected using detection sensor
Marine environment is detected using detection sensor, the environment etc. in lake is detected.
Wherein, the detection sensor that different detection targets are used is identical or differs.For example, detection marine environment
Detection sensor and the detection sensor of sensorcraft are the sensor differed.
It should be noted that when floating node 1 performs detection mission, if the detection sensor of floating node 1 occurs
Failure, and then when can not perform detection mission, other floating nodes collaboration drifts can be asked by following two modes
Floating node 1 performs detection mission.
Mode one
Earthward Surveillance center sends request message, wherein, the request message floats to ask other floating nodes to cooperate with
Node 1 performs the request of detection mission.Ground monitoring center upon receipt of the request, according to the work 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, refer to
Show that 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.
Alternatively, above-mentioned detection sensor includes：First detection sensor and the second detection sensor.
Wherein, the first detection sensor is installed on the lower section of each floating node and/or the top of each floating node.
Second detection sensor is arranged on every group of undersea detection device.Wherein, the first detection sensor is used to float and saved
Put to perform the detection mission of correlation, the second detection sensor is used to undersea detection device perform the task of correlation.
Specifically, the first detection sensor can be sonar, and the sonar is arranged on the lower section of each floating node, i.e. Fig. 4
Shown in region under water, the sonar be used for realize water-bed communication；First detection sensor can also be radar, and the radar is set
In the top of each floating node, i.e. the region waterborne shown in Fig. 4, the radar is used to realize marine communication.
If the setting relation of each floating node and undersea detection device is setting relation as shown in Figure 3, then can
To be respectively provided with the second detection sensor in each submersible, wherein, the second detection sensing set in different submersibles
The effect of device be able to can also be differed with identical.For example, as shown in figure 4, the second detection sensing can be set in submersible 1
Device 1, wherein, second detection sensor 1 is used to detect environments such as subsea；Second spy can also be set in submersible 2
Sensor 2 is surveyed, wherein, second detection sensor 2 is used to 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 3, 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, the space exploration device waterborne also includes：It is waterborne logical
T unit.
Wherein, marine communication device is arranged on each floating node or installed in communication target on the water, for reality
Now the communication between current floating node and communication target waterborne couples, and communication target waterborne includes following at least one：Target
Floating node, land island, satellite, terrestrial base station, aircraft；Target floating node is to preset in network topology structure with currently floating
The joining node of floating node.
If as shown in figure 1, current floating node is floating node 1, then target floating node is the He of floating node 2
Floating node 5.Now, the communicator on floating node 1 is just used to realize between floating node 1 and floating node 2
Communication connection, and realize between floating node 1 and floating node 5 communication connection.
If it should be noted that including the middle node of foregoing description in space exploration device waterborne as shown in Figure 1
Point, then now, the communicator being arranged on floating node 1 is additionally operable to realize to be coupled with the communication of intermediate node.
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：Underwater ship, underwater robot.
It should be noted that on each floating node, in addition to signal lamp, the signal lamp is for being navigation
Ship direction indication on the water surface；The signal lamp is additionally operable to information alert, for example, 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 to where there is danger.
Further it should be noted that space exploration device provided in an embodiment of the present invention can also be with that can couple scope
Within satellite, airship, water craft, the communication base station in land, marine floating tower performs correlation detection task jointly.
By being set on the default water surface on space exploration device, the especially sea, it can solve the problem that traditional beacon must
The defect that must be set dependent on islands and reefs.Space exploration device provided in an embodiment of the present invention has relative immobility, can be one
Move back and forth in individual scope, and remain and be relatively fixed so that detection device waterborne is more flexible.
Embodiment two
The embodiment of the present invention additionally provides a kind of space exploration system waterborne, and the space exploration system waterborne mainly includes upper
The space exploration device and detection target described in embodiment one are stated, wherein, detection target includes at least one of：It is waterborne to fly
Row device, diving outfit and ship.
In the space exploration device waterborne that the embodiment of the present invention one is provided, including one or more floating node,
Marine communication device (for example, radar) and underwater communication device (for example, sonar) are provided with each floating node.Wherein, should
Marine communication device is mainly used in realizing the communication of current floating node and other floating nodes, and realizes current floating node
With the communication of satellite, and the communication of current floating node and ship is realized.Underwater communication device is mainly used in realizing current drift
The communication connection of floating node and diving outfit (for example, underwater ship and underwater robot).
After above-mentioned communication connection is set up, the space exploration device waterborne that the embodiment of the present invention is provided in can be auxiliary
Satellite is helped to detect overwater flight device, or, marine communication device is entered by the auxiliary of satellite to overwater flight device
Row detection.
After above-mentioned communication connection is set up, the space exploration device waterborne that the embodiment of the present invention is provided in can be auxiliary
Help underwater ship to detect other diving outfits or environments such as subsea, the space exploration device waterborne can also be in underwater ship
Auxiliary under, other diving outfits or environments such as subsea are detected.
In space exploration system provided in an embodiment of the present invention, including space exploration device and detection target, wherein, it is empty
Between detection device include multiple floating nodes, multiple floating nodes swim in the water surface, and multiple floating nodes are according to default network
Topological structure communication connection, wherein, moved freely in the default moving area that each floating node can be on the water surface, and
The default moving area of any two floating node partially overlaps or completely misaligned.Pass through above-mentioned set-up mode, Neng Goushi
The rational deployment of existing floating node, sets up the spatial network system being evenly distributed, improves the spy of existing waters detection device
Survey ability, and then the poor technical problem of existing detection effect waterborne is alleviated, reach and offshore environment has been entered
The purpose that row is precisely detected.
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 space exploration device waterborne, it is characterised in that including：One or more floating nodes, it is one or more described
Floating node swims in the water surface, and multiple floating nodes according to default network topology structure and communication target waterborne and/or
Underwater communication target carried out in communication connection, the default moving area that each floating node can be on the water surface
Move freely, and the default moving area of floating node described in any two partially overlaps or completely misaligned.
2. space exploration device waterborne according to claim 1, it is characterised in that the space exploration device waterborne is also wrapped
Include：Positioner, wherein, the positioner is installed on each floating node, for detecting current floating section in real time
Point location on the water surface,
When the positioner detects the location of described default moving area being located at belonging to the current floating node
Outside when, then control the current floating node to be automatically moved into the default moving area belonging to the current floating node.
3. space exploration device waterborne according to claim 2, it is characterised in that the space exploration device waterborne is also wrapped
Include：
Ding Haituo, described Dinghai sticks together to be connected by hawser with the floating node；
Power resetting means, the power resetting means is arranged on each floating node, in the residing position
During setting in outside the default moving area belonging to the current floating node, the current floating node is controlled to be automatically moved into
In default moving area belonging to the current floating node.
4. space exploration device waterborne according to claim 1, it is characterised in that the space exploration device waterborne is also wrapped
Include：
At least one set of undersea detection device, undersea detection device can be arranged on the lower section of the water surface, Mei Gesuo described in every group
State floating node and be correspondingly arranged undersea detection device described in one group, wherein, undersea detection device described in every group be used for detect with
The interior zone of default moving area belonging to the corresponding floating node of the undersea detection device, each floating node pair
Undersea detection device part is identical or entirely different described in one group answered.
5. space exploration device waterborne according to claim 4, it is characterised in that undersea detection device bag described in every group
Include：
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.
6. space exploration device waterborne according to claim 4, it is characterised in that the space exploration device waterborne is also wrapped
Include：
Detection sensor, the detection sensor is used in real time detect detection target, wherein, the detection target includes
At least one of：Overwater flight device, diving outfit, above water craft.
7. space exploration device waterborne according to claim 6, it is characterised in that the detection sensor includes：
First detection sensor, wherein, first detection sensor is installed on the lower section of each floating node and/or every
The top of the individual floating node；
Second detection sensor, second detection sensor is arranged on described in every group on undersea detection device.
8. space exploration device waterborne according to claim 1, it is characterised in that the space exploration device waterborne is also wrapped
Include：
Marine communication device, the marine communication device is arranged on each floating node or installed in described waterborne logical
Interrogate in target, for realizing that the communication between current floating node and the communication target waterborne couples, wherein, it is described waterborne logical
Interrogating target includes following at least one：Target floating node, land island, satellite, terrestrial base station, aircraft, the target floating
Node be the default network topology structure in the current joining node of floating node.
9. space exploration device according to claim 1, it is characterised in that the space exploration device waterborne 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 ship, underwater robot.
10. a kind of space exploration system waterborne, it is characterised in that including waterborne any one of the claims 1 to 9
Space exploration device and detection target, wherein, the detection target includes at least one of：Overwater flight device, diving outfit
And above water craft.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710297192.0A CN107135099A (en) | 2017-04-28 | 2017-04-28 | Space exploration device and system waterborne |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710297192.0A CN107135099A (en) | 2017-04-28 | 2017-04-28 | Space exploration device and system waterborne |
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| CN107135099A true CN107135099A (en) | 2017-09-05 |
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| CN201710297192.0A Pending CN107135099A (en) | 2017-04-28 | 2017-04-28 | Space exploration device and system waterborne |
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| CN107682422A (en) * | 2017-09-22 | 2018-02-09 | 武汉航科物流有限公司 | Dock ship state identification method, apparatus and system |
| CN109601436A (en) * | 2019-01-24 | 2019-04-12 | 上海孚实船舶科技有限公司 | A kind of deep-sea breeding method based on environmental monitoring |
| CN109714728A (en) * | 2019-01-24 | 2019-05-03 | 上海孚实船舶科技有限公司 | The integrated target monitoring system in a kind of day sea |
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