CN108037534B - A hydroacoustic array device based on underwater mobile platform - Google Patents

Abstract

The invention discloses an underwater sound array device based on an underwater moving platform, which is connected with the underwater moving platform; the underwater sound array device includes: the device comprises an externally hung self-contained acquisition cabin, a multi-channel hydrophone linear array and a mounting mechanism; the externally hung self-contained acquisition cabin is externally hung and fixed on the underwater mobile platform through the mounting mechanism; the externally hung self-contained acquisition cabin is connected with the underwater mobile platform, and the externally hung self-contained acquisition cabin is also connected with the multi-channel hydrophone linear array. When the device disclosed by the invention is used for carrying out seismic exploration operation in deep sea areas, the great attenuation of large-depth seawater to sound waves is avoided, the seismic exploration resolution is improved, and the stratum penetration depth is increased. When the underwater acoustic investigation device is applied to underwater acoustic investigation, the underwater moving platform is conveniently controlled to navigate and move to the seabed at another position to be stationary again, so that the time for recovering and redisplaying the underwater acoustic array is saved, and the working efficiency is improved.

Description

A hydroacoustic array device based on underwater mobile platform

Technical Field

The invention relates to the technical field of geophysical exploration and hydroacoustic investigation, and in particular to a hydroacoustic array device based on an underwater mobile platform.

Background Art

Conventional marine seismic detection usually involves towing a hydrophone array on the sea surface to receive seismic waves reflected from the seabed, and then analyzing and judging the seabed geological conditions by calculating and mapping the acquired data. When this conventional seismic detection method is used in deep sea areas, the detection resolution and penetration depth of conventional seismic equipment for deep sea strata are reduced due to the large attenuation of sound waves (especially high-frequency sound waves) by seawater.

Conventional hydroacoustic surveys usually use submerged buoys to deploy one or more hydrophone arrays on the seabed to receive acoustic signals scattered by the seabed or sea surface and propagated through the water body, and further analyze and study the laws of hydroacoustic propagation by calculating and mapping the acquired data. This conventional hydroacoustic survey method requires multiple deployment and recovery of submerged buoys at different locations, which is inefficient.

Summary of the invention

The purpose of the present invention is to provide a hydroacoustic array device based on an underwater mobile platform to improve detection resolution, penetration depth and work efficiency.

To achieve the above-mentioned purpose, the present invention provides an underwater mobile platform-based underwater acoustic array device, which is connected to the underwater mobile platform; the underwater acoustic array device comprises: an external self-contained collection cabin, a multi-channel hydrophone linear array and a mounting mechanism; the external self-contained collection cabin is externally fixed to the underwater mobile platform through the mounting mechanism; the external self-contained collection cabin is connected to the underwater mobile platform, and the external self-contained collection cabin is also connected to the multi-channel hydrophone linear array.

Optionally, the hydroacoustic array device also includes: an accessory mechanism connected to the multi-channel hydrophone linear array; the accessory mechanism includes a drag parachute and a buoyancy block; the drag parachute is used to enable the multi-channel hydrophone linear array to operate in a stable posture during underwater navigation operations; the buoyancy block is used to enable the multi-channel hydrophone linear array to present a positive buoyancy of Microsoft.

Optionally, the hydroacoustic array device also includes: a tail towing mechanism; the tail towing mechanism is a Z-shaped or L-shaped connecting rod; one end of the connecting rod is fixedly connected to the tail of the underwater mobile platform, and the other end of the connecting rod is hung with the multi-channel hydrophone linear array; the tail towing mechanism is used to withstand the towing tension of the multi-channel hydrophone linear array during navigation.

Optionally, the multi-channel hydrophone linear array comprises: a front guide cable, a front elastic mechanism, n data acquisition devices, n+1 data transmission devices, and a rear elastic mechanism;

The front guide cable is connected to the front elastic mechanism, the front elastic mechanism is connected to the first data transmission device, n+1 data transmission devices and n digital acquisition devices are arranged in series at intervals, and the n+1th data transmission device is connected to the rear elastic mechanism; wherein n is an integer greater than or equal to 1.

Optionally, the digital acquisition device comprises: the digital acquisition device comprises: a plurality of data acquisition and processing mechanisms, p hydrophone channels, q hydrophones; p is an integer greater than or equal to 1, and q is an integer greater than or equal to 1;

Each of the hydrophones is used to convert seismic signals into seismic simulation signals;

Each of the hydrophone channels is used to place a plurality of hydrophones and receive the earthquake simulation signal sent by each of the hydrophones;

Each of the data acquisition and processing mechanisms is connected to a plurality of the hydrophone channels, respectively, and is used to condition and convert a plurality of the seismic simulation signals sent by each of the hydrophone channels to obtain seismic data.

Optionally, n+1 of the data transmission devices are connected in series in sequence through wires, and the current data transmission device is used to transmit the received control instructions to the next data transmission device; the current data transmission device is also used to receive the seismic data sent by the next data transmission device and the seismic data collected by multiple data acquisition and processing mechanisms connected to the current data transmission device.

Optionally, the external self-contained collection cabin is a sealed shell; the external self-contained collection cabin includes: a data collection unit, a battery pack, a data storage array, and a platform interface;

The data acquisition unit is connected to the first data transmission device, and is used to obtain the seismic data sent by the first data transmission device and analyze and process the seismic data; the data acquisition unit is also used to send control instructions to the first data transmission device;

The data storage array is connected to the data acquisition unit, and the data storage array is used to store the data acquired after the data acquisition unit collects and analyzes the data;

The battery pack is connected to the data acquisition unit, and the battery pack is used to provide power to the data acquisition unit;

The platform interface is used to connect the underwater mobile platform and the data acquisition unit.

Optionally, the data acquisition unit includes: a microprocessor module, a logic control module, a data transmission interface module, a random access memory, a built-in self-test module, a clock management module, a power management module, an Ethernet interface module, and a storage management module;

The clock management module is used to ensure the time is accurate;

The built-in self-test module is used to monitor and test each system in real time;

The data transmission interface module is used to connect to the first data transmission device to realize data transmission;

The Ethernet interface module is used to connect to the upper-level control device to achieve data transmission;

The power management module is connected to the battery pack, and is used to manage the battery pack to prevent overcharging and overdischarging of the battery pack and to increase the service life of the battery pack;

The logic control module is connected to the clock management module, the built-in self-test module, the data transmission interface module, and the Ethernet interface module respectively; the logic control module is used to parse and process the seismic data transmitted by the data transmission interface module; the logic control module is also used to send the control instruction to the next data transmission device;

The storage management module is connected to the logic control module and the data storage array respectively, and is used to manage the data obtained after parsing and processing sent by the logic control module to the data storage array for storage;

The microprocessor module is connected to the logic control module, the power management module and the underwater mobile platform respectively; the microprocessor module is used to receive the data obtained after the analysis and processing sent by the logic control module, and send the data obtained after the analysis and processing to the underwater mobile platform in real time; the microprocessor module is also used to send the sampling interval, sampling rate and record length to the logic control module;

The random access memory is connected to the microprocessor module, and the random access memory is used to increase the processing speed of the microprocessor module.

According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

The present invention provides an underwater acoustic array device based on an underwater mobile platform, wherein the underwater acoustic array device is connected to the underwater mobile platform; the underwater acoustic array device comprises: an external self-contained acquisition cabin, a multi-channel hydrophone linear array and a mounting mechanism; the external self-contained acquisition cabin is externally fixed to the underwater mobile platform through the mounting mechanism; the external self-contained acquisition cabin is connected to the underwater mobile platform, and the external self-contained acquisition cabin is also connected to the multi-channel hydrophone linear array. Compared with the prior art, the present invention has the following advantages: (1) the device of the present invention can be conveniently applied to an underwater mobile platform; (2) when the device of the present invention performs seismic detection operations in deep sea areas, since the underwater acoustic receiving array is towed near the seabed, compared with the sea surface reception, the large attenuation of sound waves (especially high-frequency sound waves) by deep sea water is avoided, the seismic detection resolution is improved, and the formation penetration depth is increased. (3) When the device described in the present invention is used for hydroacoustic survey, the underwater mobile platform can be stationary at a certain seabed. When an operation site is completed, the underwater mobile platform can be conveniently controlled to navigate and move to another location on the seabed and then stationary again, thereby saving the time for recovering and redeploying the hydroacoustic array and improving work efficiency.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

FIG1 is a schematic diagram of the structure of an underwater acoustic array device based on an underwater mobile platform according to an embodiment of the present invention;

FIG2 is a structural block diagram of an underwater acoustic array device based on an underwater mobile platform according to an embodiment of the present invention;

FIG3 is a structural block diagram of a data acquisition unit according to an embodiment of the present invention;

FIG4 is a schematic diagram of the structure of a multi-channel hydrophone linear array according to an embodiment of the present invention;

FIG. 5 is a diagram showing a data transmission topology of a multi-channel hydrophone linear array according to an embodiment of the present invention.

Among them, 1. underwater mobile platform, 2. external self-contained collection cabin, 201. data collection unit, 202. data storage array, 203. battery pack, 204. platform interface, 3. mounting mechanism, 4. multi-channel hydrophone linear array, 401. front guide cable, 402. front elastic mechanism, 403. data transmission device, 404. digital collection device, 4041. data collection and processing mechanism, 4042. hydrophone channel, 4043. hydrophone, 405. rear elastic mechanism, 5. tail towing mechanism, 6. accessory mechanism.

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

The purpose of the present invention is to provide a hydroacoustic array device based on an underwater mobile platform to improve detection resolution, penetration depth and work efficiency.

In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

Figure 1 is a schematic diagram of the structure of an underwater mobile platform-based hydroacoustic array device according to an embodiment of the present invention; Figure 1 (a) is a structural diagram of the hydroacoustic array device when it is sailing underwater, and Figure 1 (b) is a structural diagram of the hydroacoustic array device when it is stationary; as shown in Figure 1, the present invention provides a hydroacoustic array device based on an underwater mobile platform, wherein the hydroacoustic array device is connected to the underwater mobile platform 1; the hydroacoustic array device comprises: an external self-contained acquisition cabin 2, a multi-channel hydrophone linear array 4 and a mounting mechanism 3; the external self-contained acquisition cabin 2 is externally fixed on the underwater mobile platform 1 through the mounting mechanism 3; the external self-contained acquisition cabin 2 is connected to the load interface of the underwater mobile platform 1, and the external self-contained acquisition cabin 2 is also connected to the multi-channel hydrophone linear array 4.

The external self-contained acquisition cabin 2 in the present invention is connected to the load interface of the underwater mobile platform 1 via a watertight connector; the external self-contained acquisition cabin 2 is connected to the multi-channel hydrophone linear array 4 via a watertight connector, and the watertight connector can withstand a deep-water static pressure of not less than 10 mPa.

The hydroacoustic array device of the present invention further includes: an accessory mechanism 6 connected to the multi-channel hydrophone linear array 4; the accessory mechanism 6 includes a drag parachute and a buoyancy block; the drag parachute is used to enable the multi-channel hydrophone linear array 4 to operate in a stable posture during underwater navigation operations; the buoyancy block is used to enable the multi-channel hydrophone linear array 4 to present a positive buoyancy of Microsoft.

In the present invention, when the underwater mobile platform 1 is operating underwater, the multi-channel hydrophone linear array 4 is towed at the tail of the underwater mobile platform 1. In order to stabilize the posture of the multi-channel hydrophone linear array 4, a drag parachute is installed at the tail of the multi-channel hydrophone linear array 4, and the drag parachute is connected to the rear elastic mechanism 405, as shown in (a) of Figure 1 and (a) of Figure 4 for details.

When the underwater mobile platform 1 of the present invention can be stationary on the seabed or hover at a certain water depth, the multi-channel hydrophone linear array 4 generally presents a soft positive buoyancy, and thus the multi-channel hydrophone linear array 4 presents a nearly vertical state, as shown in (b) of Figure 1 and (b) of Figure 4 for details.

The underwater acoustic array device of the present invention also includes: a tail towing mechanism 5; the tail towing mechanism 5 is a Z-shaped or L-shaped connecting rod; one end of the connecting rod is fixedly connected to the tail of the underwater mobile platform 1, and the other end of the connecting rod is hung with the multi-channel hydrophone linear array 4; the tail towing mechanism 5 is used to withstand the towing tension of the multi-channel hydrophone linear array 4 during navigation.

The underwater mobile platform 1 of the present invention includes various types of underwater vehicles, including but not limited to autonomous underwater vehicles (AUVs), remotely operated unmanned vehicles (ROVs), and underwater gliders.

The underwater mobile platform 1 of the present invention also includes an autonomous controller, a navigation controller, a load controller, and a load interface. The autonomous controller is responsible for executing the established navigation plan and sensing environmental parameters, and optimizing or re-planning the navigation when the environment is unfavorable; the navigation controller is responsible for controlling the aircraft elements (energy, communication, propulsion, recording, navigation) and monitoring the aircraft status; the load interface is responsible for connecting with the load; the load controller executes the load plan, controls the load elements (sensors, recording, actuators) and monitors the load status.

FIG4 is a schematic diagram of the structure of a multi-channel hydrophone linear array according to an embodiment of the present invention; wherein (a) in FIG4 is a schematic diagram of the horizontal array structure, (b) is a schematic diagram of the vertical array structure, and FIG5 is a data transmission topology diagram of the multi-channel hydrophone linear array according to an embodiment of the present invention; as shown in FIG4-FIG5, the multi-channel hydrophone linear array 4 of the present invention comprises: a front guide cable 401, a front elastic mechanism 402, n data acquisition devices 404, n+1 data transmission devices 403, and a rear elastic mechanism 405; the front guide cable 401 is connected to the front elastic mechanism 402, the front elastic mechanism 402 is connected to the first data transmission device 403, the n+1 data transmission devices 403 are arranged in series with the n digital acquisition devices 404 at intervals, and the n+1th data transmission device 403 is connected to the rear elastic mechanism 405; wherein n is an integer greater than or equal to 1.

The front guide cable 401 of the present invention plays a traction role; the front elastic mechanism 402 is used to isolate the mechanical vibration generated by the underwater mobile platform 1; the data acquisition device 404 is used to obtain seismic data; and the rear elastic mechanism 405 is used to isolate the tail noise.

In the present invention, n+1 data transmission devices 403 are connected in series in sequence through electric wires. The current data transmission device 403 is used to transmit the received control instructions to the next data transmission device 403; the current data transmission device 403 is also used to receive the seismic data sent by the next data transmission device 403 and the seismic data collected by multiple data acquisition and processing mechanisms 4041 connected to the current data transmission device 403.

The digital acquisition device 404 of the present invention includes: the digital acquisition device 404 includes: multiple data acquisition and processing mechanisms 4041, p hydrophone channels 4042, and q hydrophones 4043; p is an integer greater than or equal to 1, and q is an integer greater than or equal to 1; each of the hydrophones 4043 is used to convert a seismic signal into a seismic simulation signal; each of the hydrophone channels 4042 is used to place multiple hydrophones 4043 and receive the seismic simulation signals sent by each of the hydrophones 4043; multiple hydrophones 4043 are connected in parallel or in series; each of the data acquisition and processing mechanisms 4041 is respectively connected to multiple hydrophone channels 4042, and is used to condition and convert the multiple seismic simulation signals sent by each of the hydrophone channels 4042 to obtain seismic data.

The multi-channel hydrophone linear array 4 of the present invention is filled with buoyancy material, which may be liquid, colloid or solid.

The external self-contained acquisition cabin 2 of the present invention is a sealed shell; the external self-contained acquisition cabin 2 includes: a data acquisition unit 201, a battery pack 203, a data storage array 202, and a platform interface 204; the data acquisition unit 201 is connected to the first data transmission device 403, and the data acquisition unit 201 is used to obtain the seismic data sent by the first data transmission device 403, and parse and process the seismic data; the data acquisition unit 201 is also used to send control instructions to the first data transmission device 403; the data storage array 202 is connected to the data acquisition unit 201, and the data storage array 202 is used to store the data obtained after the data acquisition unit 201 collects and analyzes the data; the battery pack 203 is connected to the data acquisition unit 201, and the battery pack 203 is used to provide power to the data acquisition unit 201; the platform interface 204 is used to connect the underwater mobile platform 1 with the data acquisition unit 201.

The data storage array 202 of the present invention may be an SD card, a hard disk or other devices.

FIG3 is a block diagram of the data acquisition unit structure of an embodiment of the present invention. As shown in FIG3 , the data acquisition unit 201 of the present invention includes: a microprocessor module, a logic control module, a data transmission interface module, a random access memory, a built-in self-test module, a clock management module, a power management module, an Ethernet interface module, and a storage management module.

The clock management module of the present invention is used to ensure time accuracy; specifically, to ensure the accuracy of time for collecting seismic data; the clock management module is a high-precision crystal oscillator or uses an atomic clock as a clock source.

The built-in self-test module is used to monitor and test various systems in real time; each system includes a power supply system, a storage system, a communication system, and a mission command system.

The data transmission interface module of the present invention is connected to the first data transmission device 403 to realize data transmission; the data transmission interface module is internally embedded with the same transmission protocol as the data transmission device 403.

The Ethernet interface module of the present invention is used to connect to the upper-level control device to realize the transmission of data and control commands.

The power management module of the present invention manages the battery pack 203 to prevent overcharging and over-discharging of the battery pack 203 and increase the service life of the battery pack 203; at the same time, it isolates and transforms the voltage of the battery pack 203 to generate a low-voltage DC power supply with a suitable voltage for use by the control circuit of the data acquisition unit 201.

The logic control module of the present invention is connected to the clock management module, the built-in self-test module, the data transmission interface module, the Ethernet interface module, the logic control module, and the storage management module respectively; the logic control module receives the seismic data transmitted by the data transmission interface module, and performs parsing processing on the seismic data, and sends the parsed data to the microprocessor module in real time, and also sends it to the data storage array 202 for storage through the storage management module in real time. The parsing process includes data verification, rearrangement, and identification processing of part of the control information; the logic control module is also used to send the control instruction to the next data transmission device 403.

The storage management module of the present invention is connected to the logic control module and the data storage array 202 respectively, and is used to manage the data obtained after parsing and processing sent by the logic control module to the data storage array 202 for storage; the storage management module includes a high-speed storage array and its array management circuit.

The microprocessor module of the present invention is respectively connected to the logic control module, the power management module, and the underwater vehicle; the microprocessor module is used to receive the data obtained after analysis and processing sent by the logic control module, and send the data obtained after analysis and processing to the underwater vehicle in the underwater mobile platform in real time; the microprocessor module is also used to send the sampling interval, sampling rate, and record length to the logic control module; the microprocessor module is the control core of the data acquisition unit 201.

The random access memory is connected to the microprocessor module, and the random access memory is used to improve the processing speed of the microprocessor module; the random access memory is a DDR double data rate synchronous dynamic random access memory.

The data acquisition unit 201 of the present invention can work in automatic mode or controlled mode; when working in automatic mode, it automatically collects data at a fixed sampling interval according to the sampling interval, sampling rate, sampling length and other parameters set in advance by the user. When working in controlled mode, the underwater mobile platform 1 sets and controls the data acquisition unit 201 through the load interface; the specific underwater mobile platform 1 can set the parameters of the data acquisition unit 201 such as the sampling interval, sampling rate, sampling length, etc., and the underwater mobile platform 1 can also control the start and shutdown of the data acquisition unit 201 through the load controller.

Embodiment 1:

The specific working steps are as follows:

(1) The survey vessel arrives at the designated working area.

(2) The user sets the data acquisition unit 201 through the network interface (wired or wireless), sets the working parameters such as sampling interval, sampling rate, sampling length, etc., sets the data acquisition unit 201 to work in automatic working mode, and the test equipment is in normal working state.

(3) The external self-contained collection cabin is mounted on the autonomous underwater vehicle (AUV) through the mounting mechanism 3.

(4) The multi-channel hydrophone linear array 4 is installed at the tail of the AUV through the tail towing mechanism 5 and connected to the external self-contained collection cabin. A drag parachute is installed at the tail of the multi-channel hydrophone linear array 4.

(5) Setting the AUV working parameters, deploying the AUV to the sea surface, and the AUV navigating according to the established working parameters, working depth, and working route.

(6) The sound source emission is an artificial source seismic wave. The sound source can be a sound source towed at the stern of the survey vessel or a sound source carried by the AUV.

(7) The multi-channel hydrophone linear array 4 is towed at the tail of the AUV in a horizontal state.

(8) Multi-channel hydrophone linear array 4 data acquisition device The hydrophone 4043 channels collect seismic wave signals reflected by the stratum, convert the seismic wave signals from acoustic signals to analog electrical signals, and then the data transmission device 403 converts the analog electrical signals into digital electrical signals and uploads them to the data acquisition unit 201. The data acquisition unit 201 stores the multi-channel seismic signals in the data storage array 202.

(9) After the work is completed, the AUV is ordered to return to the surface and arrive near the survey ship.

(10) Recover the AUV and its towed hydroacoustic array to the deck of the survey vessel.

(11) Transfer and back up the multi-channel seismic data.

(12) Charge the AUV and collection cabin battery pack 203 to prepare for the next stage of deployment.

Embodiment 1 of the present invention is used for marine seismic exploration, and the sound source used is generally an air gun sound source, an electric spark sound source, a transducer sound source, etc.

Embodiment 2:

The specific working steps are as follows:

(1) The survey vessel arrives at the designated working area.

(2) The user sets the data acquisition unit 201 through the network interface (wired or wireless), sets the working parameters such as sampling interval, sampling rate, sampling length, etc., sets the data acquisition unit 201 to work in automatic working mode, and the test equipment is in normal working state.

(3) The external self-contained collection cabin is mounted on the autonomous underwater vehicle (AUV) through the mounting mechanism 3.

(4) The multi-channel hydrophone linear array 4 is installed at the tail of the AUV through the tail towing mechanism 5 and connected to the external self-contained collection cabin.

(5) Setting the AUV working parameters, deploying the AUV to the sea surface, and the AUV navigating according to the established working parameters and reaching the designated location on the seabed, and then stopping the AUV and resting on the seabed.

(6) The sound source can be artificially emitted sound waves, such as a sound source suspended or towed at the stern of the survey vessel; or it can be a noise source, such as the noise generated by nearby ships.

(7) The multi-channel hydrophone linear array 4 is in a vertical position at the tail of the AUV.

(8) Multi-channel hydrophone linear array 4 data acquisition device The hydrophone 4043 channels collect the acoustic signals transmitted through the water body, convert the acoustic signals into analog electrical signals, and then the data transmission device 403 converts the analog electrical signals into digital electrical signals and uploads them to the data acquisition unit 201. The data acquisition unit 201 stores the multi-channel hydroacoustic signals in the data storage array 202.

(9) After the work is completed, the AUV is ordered to return to the surface and arrive near the survey ship.

(10) Recover the AUV and its towed hydroacoustic array to the deck of the survey vessel.

(11) Transfer and back up the multi-channel underwater acoustic data.

(12) Charge the AUV and collection cabin battery pack 203 to prepare for the next stage of deployment.

The second embodiment of the present invention is used for ocean acoustic survey. The sound sources used include, in addition to the above-mentioned sound sources, noise sources generated by surrounding submarines and other ships, and are suitable for monitoring, anti-submarine, etc.

The present invention has the following advantages:

(1) The device of the present invention can be conveniently applied to the underwater mobile platform 1.

(2) When the device described in the present invention performs seismic detection operations in deep sea areas, since the hydroacoustic receiving array is towed near the seabed, compared with sea surface reception, it avoids the significant attenuation of sound waves (especially high-frequency sound waves) by deep seawater, improves the seismic detection resolution, and increases the penetration depth of the formation.

(3) When the device described in the present invention is used for hydroacoustic survey, the underwater mobile platform 1 can be stationary at a certain seabed. When an operation site is completed, the underwater mobile platform 1 can be conveniently controlled to navigate and move to another location on the seabed and then stationary again, which saves the time for recovering and redeploying the hydroacoustic array and greatly improves work efficiency.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims (6)

1. A hydroacoustic array device based on an underwater mobile platform, characterized in that the hydroacoustic array device is connected to the underwater mobile platform; the hydroacoustic array device comprises: an external self-contained acquisition cabin, a multi-channel hydrophone linear array, a mounting mechanism and an accessory mechanism; the external self-contained acquisition cabin is externally fixed on the underwater mobile platform through the mounting mechanism; the external self-contained acquisition cabin is connected to the underwater mobile platform, and the external self-contained acquisition cabin is also connected to the multi-channel hydrophone linear array; The underwater acoustic array device also includes: a tail towing mechanism, a front guide cable, a front elastic mechanism, n data acquisition devices, n+1 data transmission devices, and a rear elastic mechanism; the tail towing mechanism is a Z-shaped or L-shaped connecting rod; one end of the connecting rod is fixedly connected to the tail of the underwater mobile platform, and the other end of the connecting rod is connected to the multi-channel hydrophone linear array; the tail towing mechanism is used to withstand the towing tension of the multi-channel hydrophone linear array during navigation; The accessory mechanism is connected to the multi-channel hydrophone linear array; the accessory mechanism includes a drag parachute and a buoyancy block; the drag parachute is used to make the multi-channel hydrophone linear array operate in a stable posture during underwater navigation; the buoyancy block is used to make the multi-channel hydrophone linear array present a positive buoyancy of Microsoft; The drag parachute is installed at the tail of the multi-channel hydrophone linear array and is connected to the rear elastic mechanism. 2. The underwater acoustic array device according to claim 1 is characterized in that the front guide cable is connected to the front elastic mechanism, the front elastic mechanism is connected to the first data transmission device, n+1 data transmission devices and n data acquisition devices are arranged in series at intervals, and the n+1th data transmission device is connected to the rear elastic mechanism; wherein n is an integer greater than or equal to 1. 3. The underwater acoustic array device according to claim 2, characterized in that the digital acquisition device comprises: the digital acquisition device comprises: a plurality of data acquisition and processing mechanisms, p hydrophone channels, and q hydrophones; p is an integer greater than or equal to 1, and q is an integer greater than or equal to 1; Each of the hydrophones is used to convert seismic signals into seismic simulation signals; Each of the hydrophone channels is used to place a plurality of hydrophones and receive the earthquake simulation signal sent by each of the hydrophones; Each of the data acquisition and processing mechanisms is connected to a plurality of the hydrophone channels, respectively, and is used to condition and convert a plurality of the seismic simulation signals sent by each of the hydrophone channels to obtain seismic data. 4. The underwater acoustic array device according to claim 3 is characterized in that the n+1 data transmission devices are connected in series in sequence through wires, and the current data transmission device is used to transmit the received control instructions to the next data transmission device; the current data transmission device is also used to receive the seismic data sent by the next data transmission device and the seismic data collected by multiple data acquisition and processing mechanisms connected to the current data transmission device. 5. The underwater acoustic array device according to claim 2, characterized in that the external self-contained acquisition cabin is a sealed shell; the external self-contained acquisition cabin comprises: a data acquisition unit, a battery pack, a data storage array, and a platform interface; The data acquisition unit is connected to the first data transmission device, and is used to obtain the seismic data sent by the first data transmission device and analyze and process the seismic data; the data acquisition unit is also used to send control instructions to the first data transmission device; The data storage array is connected to the data acquisition unit, and the data storage array is used to store the data acquired after the data acquisition unit collects and analyzes the data; The battery pack is connected to the data acquisition unit, and the battery pack is used to provide power to the data acquisition unit; The platform interface is used to connect the underwater mobile platform and the data acquisition unit. 6. The underwater acoustic array device according to claim 5, characterized in that the data acquisition unit comprises: a microprocessor module, a logic control module, a data transmission interface module, a random access memory, a built-in self-test module, a clock management module, a power management module, an Ethernet interface module, and a storage management module; The clock management module is used to ensure the time is accurate; The built-in self-test module is used to monitor and test each system in real time; The data transmission interface module is used to connect to the first data transmission device to realize data transmission; The Ethernet interface module is used to connect to the upper-level control device to achieve data transmission; The power management module is connected to the battery pack, and is used to manage the battery pack to prevent overcharging and overdischarging of the battery pack and to increase the service life of the battery pack; The logic control module is connected to the clock management module, the built-in self-test module, the data transmission interface module, and the Ethernet interface module respectively; the logic control module is used to parse and process the seismic data transmitted by the data transmission interface module; the logic control module is also used to send the control instruction to the next data transmission device; The storage management module is connected to the logic control module and the data storage array respectively, and is used to manage the data obtained after parsing and processing sent by the logic control module to the data storage array for storage; The microprocessor module is connected to the logic control module, the power management module and the underwater mobile platform respectively; the microprocessor module is used to receive the data obtained after the analysis and processing sent by the logic control module, and send the data obtained after the analysis and processing to the underwater mobile platform in real time; the microprocessor module is also used to send the sampling interval, sampling rate and record length to the logic control module; The random access memory is connected to the microprocessor module, and the random access memory is used to increase the processing speed of the microprocessor module.