CN-121990142-A - Autonomous underwater small target detection AUV for long endurance

CN121990142ACN 121990142 ACN121990142 ACN 121990142ACN-121990142-A

Abstract

The invention relates to an autonomous underwater small target detection AUV for long voyage, which sequentially comprises a collision prevention unit, a small target detection unit, a front electronic cabin unit and a navigation unit, wherein the collision prevention unit comprises a collision prevention sonar and an electronic compass along the axial direction from the fore part to the aft part, the small target detection unit comprises a flash lighting lamp and a synthetic aperture sonar, two transducers of the synthetic aperture sonar are respectively and symmetrically arranged on the side of the head of the AUV, the front electronic cabin unit comprises a communication sonar, a depth gauge, an exchange plate, a perception processing plate, a first leakage sensor and a first semicircular secondary lithium battery, and the navigation unit comprises wireless communication positioning equipment, inertial navigation equipment and a Doppler log. The invention realizes the ultra-long endurance working capacity of the AUV by integrating multiple means such as high resolution detection load, optimizing the energy and power efficiency of the platform, adopting light high-strength structural design and the like, and remarkably improves the imaging quality and the autonomous detection efficiency of the AUV on underwater small targets.

Inventors

He Elong
XIE JIANGUO
YANG YUNSHI
WU ZHE
WANG YING

Assignees

杭州瑞声海洋仪器有限公司

Dates

Publication Date: 20260508
Application Date: 20260202

Claims (10)

1. The autonomous underwater small target detection AUV for long voyage is characterized by comprising a streamline shell formed by a hemispherical bow nose, a parallel middle section and a convex cone tail, and sequentially comprises a collision prevention unit, a small target detection unit, a front electronic cabin unit, a navigation unit, a rear electronic cabin unit, a battery unit, a camera unit and a high-efficiency propulsion unit from front to back along the axial direction: The collision prevention unit comprises a collision prevention sonar and an electronic compass; The small target detection unit comprises a flash lighting lamp and a synthetic aperture sonar; The front electronic cabin unit comprises a communication sonar, a depth gauge, an exchange plate, a perception processing plate, a first liquid leakage sensor and a first semicircular secondary lithium battery; the rear electronic cabin unit comprises a low-power consumption main control board, a switch board, a second liquid leakage sensor and a second semicircular secondary lithium battery; the battery unit comprises a third semicircular secondary lithium battery and a fourth semicircular secondary lithium battery which are arranged up and down; the camera shooting unit comprises a flash lamp power supply board and a camera; The navigation unit comprises a wireless communication positioning device, an inertial navigation device and a Doppler log; The high-efficiency propulsion unit comprises a steering engine, a propulsion motor and two-blade propellers driven by the propulsion motor, wherein the disk surface ratio of the two-blade propellers is 20%, and the diameter of the two-blade propellers is 0.85 times of the diameter of the AUV main body; The underwater flash lighting imaging detection load is formed by the flash lighting lamp, the flash lamp power supply board and the camera, the low-power consumption main control board, the switch board, the sensing processing board and the switch board form a power consumption management system which is configured to switch between a low-power consumption operation mode and a detection mode according to task states, and the parallel middle section is at least provided with a plurality of carbon fiber pressure-resistant shell parts which are respectively used for accommodating a battery unit, a front electronic cabin unit and a rear electronic cabin unit so as to reduce the weight of the shell and increase the battery capacity.
2. The autonomous underwater small target detection AUV for long voyages according to claim 1, wherein the collision prevention unit and the small target detection unit are water permeable cabins, the other units are communicated sealed cabins, the water permeable cabins are sealed and isolated by a front electronic cabin end cover, and are in communication and power supply connection through watertight connectors and watertight cables, and the sealed cabins are fixedly connected.
3. The autonomous underwater small target detection AUV of claim 1 wherein said small target detection unit is internally filled with a buoyancy material to bring the unit to an overall zero-buoyancy state.
4. The autonomous underwater small target detection AUV for long voyages according to claim 1, wherein the first, second, third and fourth semicircular secondary lithium batteries supply power to the whole system in parallel and have a power supply voltage ranging from 21.6V to 33.6V.
5. The autonomous underwater small target detection AUV of claim 1, wherein the power consumption management system is operated in the following modes: The low-power consumption operation mode comprises the steps of starting the low-power consumption main control board, the switch board, the depth gauge, the first leakage sensor, the second leakage sensor, the electronic compass, the Doppler log, the communication sonar and the high-efficiency propulsion unit, and navigating by adopting the combination of the electronic compass and the Doppler log; And in the detection mode, on the basis of the equipment started in the low-power-consumption operation mode, the exchange board, the inertial navigation equipment, the sensing processing board, the anti-collision sonar and the wireless communication positioning equipment are additionally started, the combination of the inertial navigation equipment and the Doppler log is adopted for navigation, the switch board is controlled according to task requirements, and power is selectively supplied to the synthetic aperture sonar and the underwater flash illumination imaging detection load.
6. The autonomous underwater small target detection AUV for long voyages according to claim 1, wherein the low-power consumption main control board is directly connected with and communicates with the wireless communication positioning equipment, the inertial navigation equipment, the Doppler log, the depth gauge, the communication sonar, the switch board, the electronic compass, the first and second liquid leakage sensors, the propulsion motor, the steering engine and the four secondary lithium batteries, and the collision avoidance sonar, the synthetic aperture sonar, the perception processing board and the camera are in network communication interaction with the low-power consumption main control board through the exchange board.
7. The autonomous underwater small target detection AUV of claim 1, wherein said perception processing board is configured to process image data from said camera and detection data from said synthetic aperture sonar.
8. The autonomous underwater small target detection AUV for long voyages as claimed in claim 1, wherein the fairing has a diameter of 200mm and a total length of 2200mm.
9. The autonomous underwater small target detection AUV of claim 1 wherein said flash light is triggered by said camera TTL level to provide underwater high definition optical imaging.
10. The autonomous underwater small target detection AUV for long voyages according to claim 1, wherein the AUV has a maximum working depth of 300 meters and an overall weight of less than 70kg.

Description

Autonomous underwater small target detection AUV for long endurance Technical Field The invention belongs to the technical field of autonomous exploration of underwater small targets, and particularly relates to an autonomous underwater small target exploration AUV in long voyage. Background Underwater small targets such as mines, submerged diving markers and the like have extremely strong concealment due to small size, weak echo and easiness in being covered by complex seabed background, and a small AUV platform is generally adopted for carrying detection load for approaching detection so as to obtain high-definition imaging of the target and realize autonomous detection of the target. The existing small AUV autonomous detection platform is provided with a plurality of side-scan sonar and illumination imaging load as imaging detection load, for example REMUS M, and is provided with MK II Arc Scout 900/1800 kHz side-scan sonar, and the maximum detection duration is 30 hours, and has the problems that 1) the imaging resolution of small targets such as mines and submerged diving marks is low, so that autonomous identification false alarm rate is high, 2) energy is limited, sustainable working time is short, frequent arrangement and recovery are needed for energy compensation, continuous underwater detection cannot be carried out for a long time, and detection efficiency is low. Therefore, there is a need for an autonomous underwater small target detection AUV that can achieve long-endurance, high-resolution detection and effectively reduce the false alarm rate. Disclosure of Invention The invention aims to solve the technical problems of providing an autonomous underwater small target detection AUV with long endurance, which aims to realize the ultra-long endurance working capacity of the AUV and remarkably improve the imaging quality and the autonomous detection efficiency of the AUV on the underwater small target by integrating multiple means such as high resolution detection load, optimizing the energy and power efficiency of a platform, adopting a light high-strength structural design and the like. The technical scheme of the invention is that the autonomous underwater small target detection AUV for long voyages is provided, the overall AUV adopts a streamline low-resistance appearance design, the main body diameter is 200mm, the total length is 2200mm, the AUV comprises a hemispherical bow nose part, a parallel middle section and a convex cone tail part, a two-blade propeller is adopted, the disk surface ratio is 20%, and the diameter is 0.85 times of the main body diameter. The device comprises a collision prevention unit, a small target detection unit, a front electronic cabin unit, a navigation unit, a rear electronic cabin unit, a battery unit, a camera shooting unit and a high-efficiency propulsion unit from the bow part to the tail part. The collision prevention unit and the small target detection unit are water permeable cabins, the other units are communicated sealed cabins, watertight isolation is carried out between the water permeable cabins and the rear sealed cabins through a front end cover, and all electric power and signals are transmitted through watertight connectors on the end cover. The seal cabins are tightly connected by adopting a mode of penetrating screw pull rods inside, so that the strength and the sealing reliability of the whole structure are ensured. The collision prevention unit comprises collision prevention sonar and an electronic compass, and is used for detecting obstacles in front and measuring heading, and the electronic compass is arranged on the head to avoid the interference of AUV other equipment on the electronic compass. The small target detection unit comprises a flash lamp and a synthetic aperture sonar. The synthetic aperture sonar comprises a synthetic aperture sonar electronic cabin and two synthetic aperture sonar transducers, wherein the two synthetic aperture sonar transducers are symmetrically arranged on two sides of an AUV head and are used for carrying out high-resolution acoustic imaging on seafloor on two sides of a navigation path. The cell is internally filled with a buoyancy material to achieve a zero buoyancy state. The front electronic cabin unit comprises a communication sonar, a depth gauge, an exchange plate, a perception processing plate, a first liquid leakage sensor and a first semicircular secondary lithium battery. The perception processing board is specially used for processing camera images and synthetic aperture sonar data. The communication sonar comprises a communication sonar transducer and a communication sonar signal processing module, and the communication sonar transducer is suspended below the front electronic cabin. The first liquid leakage sensor is used for liquid leakage detection and alarm. The navigation unit comprises wireless communication positioning equipment, inertial navigation equipment and Doppler log, and prov