JPH0712933A - Underwater acoustic beacon for guiding submarine - Google Patents

Abstract

PURPOSE:To always easily guide a submarine along the shortest track so as to reduce the anxiety of the navigation officer of the submarine by providing paired left and right transmittersreceivers, controllers, low-frequency sound transmitters-receivers for submarine, etc., on both sides of an underwater guiding channel. CONSTITUTION:When transmitters-receivers 4-11 start to transmit signals for a submarine 25, a relay 53 is driven and sends low-frequency signals to the transmitters- receivers 4-11. The transmitters-receivers 4-11 convert 34 the low-frequency acoustic waves into underwater sounds by removing 37 the influence of noise in their transmission lines and amplifying 38 the acoustic waves. When the low-frequency acoustic waves f2-f9 reach the submarine 25, the acoustic waves are received 33 and phased 29. Then the arriving directions of the acoustic waves f2-f9 are found 28 and displayed 27. On the submarine 25, low-frequency acoustic waves f1 are generated 31, amplified 32, and transmitted 33 underwater. The transmitter-receivers 4-11 phase 35, amplify 36, and send the acoustic waves f1 to a controller and the controller amplifies 54 the acoustic waves f1, elucidates the arriving direction of the waves f1, and decides the turning on/off of the transmission from the transmitters-receivers 4-11. Therefore, the submarine 25 can be guided easily with the underwater aids to navigation formed of the transmitters-receivers 4-11, etc.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater acoustic sign device for guiding a submersible.

[0002]

2. Description of the Related Art Light and radio waves cannot be used as a guide for a submersible underwater because it is difficult to transmit them over a long distance in water. Therefore, conventionally, in a submersible, the latitude and longitude of the ship are obtained by an inertial navigation system, the results are sequentially plotted as a track on a route map, and the course of the ship is determined to reach the target underwater station.

However, with such means, the submersible cannot be guided from the underwater station, and the submersible carries out dead reckoning, which has the following drawbacks. (1) Maneuvering is not easy, and therefore the operator's effort is great. (2) It is difficult to keep the track at the shortest distance all the time, and there is room for improvement in economic efficiency.

[0004]

SUMMARY OF THE INVENTION The present invention has been proposed in view of such circumstances, and it is easy to maneuver a ship, and the wake can always be set to the shortest distance, thus reducing the labor of the ship operator. It is an object of the present invention to provide an underwater acoustic sign device for guiding a submersible, which is excellent and economical.

[0005]

To this end, the present invention is capable of transmitting low-frequency sound waves different from each other, which are arranged in a pair of right and left underwater along the underwater navigation route between different underwater stations. Multiple left and right paired transducers,
A control device connected to each of the above-mentioned wave transmitters and receivers by an underwater cable, a low-frequency sound wave transmitter / receiver and a sonar indicator mounted on the submersible, and the control device is based on the transmission from the submersible ship. The submarine is transmitted by the plurality of right and left paired transmitters / receivers in sequence, and the sonar indicator of the submarine vessel sequentially receives the transmission waves from the plurality of left and right paired transducers. It is characterized by being guided to the target underwater station.

[0006]

According to this structure, the control device sequentially transmits from the plurality of left and right paired transducers based on the transmission from the submersible vessel, and the sonar indicator of the submersible vessel displays the plurality of left and right sides. By sequentially receiving the waves transmitted from the one-to-one wave transmitter / receiver, the submersible is guided to the target underwater station, and the following actions are performed. (1) Navigation of the submersible will be guided system to facilitate maneuvering. (2) The navigation method of the submersible will be the guidance method, and the wake will always be the shortest distance.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings. First, in the overall plan view of FIG. 1, underwater stations 1, 2 and 3 are arranged separately from each other in water. 4-11 are underwater stations 1-3
In order to guide the submarine 25 (Fig. 2) to the submarine, long-distance transmission is possible using the signal generators (hereinafter referred to as SG) 50 to 52 (Fig. 2) in the control processing unit 56 (Fig. 2), respectively. Low frequency sound waves f _{2 to} f _{9 of} about 500 to ₂ KHz
To occur. At this time, the transmitters / receivers 4 to 7, 1 in the vicinity thereof are not affected by the underwater stations 1 to 3.
0 to 11 are directed outward, and the transducers 8 and 9 at the branch points of the route are omnidirectional.

Further, the submersible vessel 25 utilizing these underwater acoustic signs is equipped with a wave transmitter / receiver 33 (FIG. 2) and a sonar, and a sonar processor 28 is previously equipped with underwater stations 1 to 3 and a wave transmitter / receiver. 4 to 11 are arranged, and low-frequency sound waves of the respective transducers 4 to 11 are set. Further, like the transducers 4 to 11, the transducer 33 of the submersible ship 25 outputs the low-frequency sound wave f ₁ (FIG. 2), and each transducer 4
-11, the control processing unit 56 starts / stops the transmission of the transceivers 4-11 from the arrival direction of the signal.

Here, in this embodiment, the underwater stations 1 to 3 (FIG. 1), 2 to 3 or vice versa can be considered as the route, and the system is complicated, for example, from the underwater stations 2 to 3. If there are no obstacles, it is sufficient to install a sound source, that is, a wave transmitter / receiver only between the underwater stations 1, 2 and 3.
Considering that there is no straight line between the three, there are rocks and cliffs, and there are frequent submersibles near the channel,
The arrangement of the wave transmitters / receivers 4 to 11 as in this embodiment is obtained. In FIG. 1, 12 to 14 are platforms and 15
-24 are underwater cables.

Next, in the block diagram of FIG. 2 showing the basic configuration of the present apparatus, the control unit selects from the operation unit 57 each of the transducers 4 to 11 according to the planned route of the submersible 25,
The frequencies of the low-frequency sound waves of the transmitted and received waves are input, and the received and received waves from the submersible 25 cause the transducers 4 to 1 to be used.
Send 1 signal and stop signal respectively. And S. G
Reference numerals 50 to 52 generate sound waves having a frequency instructed by the control processing unit 56, and these signals are amplified by amplifiers 47 to 49, respectively. When the transmission start time of each of the transducers 4 to 11 is reached by the signal from the submarine 25, the relay 53 is driven,
The switches 44 to 46 are closed, and the frequency signals are sent to the transducers 4 to 11 via the underwater connectors 40 and 42 and the underwater cable 41.

In the wave transmitters / receivers 4 to 11, the filter 37 removes the influence of noise on the transmission path, the amplifier 38 amplifies the low frequency sound wave, and the wave transmitter / receiver 34 converts the sound wave into underwater sound.
When the low-frequency sound waves f _{2 to} f ₉ reach the submersible ship 25, they are received by the wave transmitter / receiver 33, phased by the filter and phase shifter 29, and low-frequency sound waves f ₂ -f by the sonar processor 28. _{The 9} directions of arrival are determined and displayed on the sonar indicator 27.

In addition, the S. A low frequency sound wave f ₁ is generated by G31, which is amplified by the amplifier 32 and transmitted to the water by the transducer 33. Then, in the transducers 4 to 11, the low-frequency sound wave f ₁ is phased by the filter and the phase shifter 35, amplified by the amplifier 36, and sent to the control device by the underwater connectors 40, 42 and the underwater cable 41. Further amplified by the amplifier 54 of the sonar processor 55
The direction of arrival of the low-frequency sound wave f ₁ can be known at and the control processing unit 56
The ON / OFF of the transmission / reception of the transducers 4 to 11 is determined by. From the results of the above processing, the submersible 25 can be guided by the underwater acoustic sign formed by the wave transmitters / receivers 4 to 11,
Therefore, the navigation to the target underwater station becomes easy.

[0013] In such an apparatus, the procedure for guiding the submersible 25 from one underwater station to another underwater station will be described more specifically.
(A) In plan view, the magnitude of underwater noise, low-frequency sound waves f _{6 to} f
Varies in ₇ propagation conditions of the transducer 8 or 9 of the low one sound frequency sound waves f ₆ or low frequency sound waves f ₇ is submersible 25
When the low frequency sound waves f ₆ and f ₇ of both the transmitters / receivers 8 and 9 can be received by being further received,
The sonar display 27 of the submersible 25 displays a display as shown in FIG. 3 (B). Here, since 0 ° indicates the traveling direction of the submarine 25, the low-frequency sound wave f is symmetrical about 0 °.
_Since the arrival directions of ₆ and f ₇ are displayed, it can be confirmed that the submersible 25 is proceeding straight toward the transceivers 8 and 9.

Next, in FIG. 3C, when the submersible 25 approaches the transducers 6 and 7, the low frequency sound wave f _{4 of the} transducer 6 is first received and the sonar indicator 27 displays the low frequency sound. Sound wave f ₄
Direction is displayed. Furthermore, when the submarine 25 approaches the underwater station 2, both low frequency sound waves f ₄ and f ₅ are received as shown in FIG. 3D, and as a result, in the intermediate direction of the low frequency sound waves f ₄ and f _5. It can be confirmed that the target underwater station 2 is present.

As shown in FIG. 3 (E), the procedure for starting and stopping the transmitters / receivers 4 to 11 is as follows.
When approaching 9, it is determined whether or not the low frequency sound wave f ₁ transmitted from the submersible ship 25 has passed through. That is, when the submersible 25 approaches the transceivers 8 and 9 while emitting the low frequency sound wave f ₁ , the control processing unit 56 (FIG. 2) monitors the arrival direction of the sound waves from the submersible 25, and FIG.
As shown in (F), the peak in the sonar display of the reception of the low-frequency sound wave f ₁ of the submersible 25 at the transducers 8 and 9 is 0.
When the direction becomes °, the switch 44 of the transducers 8 and 9 is turned off by the relay 53 (FIG. 2) and the switch 45 of the next transducer is turned on to transmit the sound wave of the next transducer. And

Then, as shown in FIG. 3 (G), the submersible 2
When 5 comes from the transmitters / receivers 8 and 9 in an oblique direction, the control processing unit 56 (FIG. 2) determines that the low-frequency sound wave f from the submarine 25 is received.
₁ is monitored, and as shown in FIG. 3 (H), the directions of arrival at the transmitters / receivers 8 and 9 are shifted by 0 °.
As shown in (I) and (J) of the figure, if the peaks on the sonar display of both the transducers 8 and 9 pass 0 °, the submersible 25 determines that the submarine 25 has passed between the transducers 8 and 9.
(FIG. 2) turns off the switch 44 (FIG. 2) and turns on the switch 45 of the next transducer. Further, when the submersible approaches the transducer, the direction of arrival at the transducer gradually becomes 0 °.

After that, when the submersible 25 travels on the planned route, the control processing unit 56 (FIG. 2) switches the switches 44 to 46 by the relay 53 according to the arrival direction of the sound waves, and when the submersible arrives at the underwater station. The control processing unit 56 stops the transmission from the wave transmitter / receiver near the underwater station.

Further, for example, as shown in the plan view of FIG. 4 (A), the underwater station 58 to the underwater station 59.
To guide the submarine along the broken line, transducers 60 to 69 capable of transmitting different low-frequency sound waves are arranged in the water as shown in the figure. Here, the wave transmitters / receivers 60, 61, 68, 69 are each directional, and the wave transmitters / receivers 62 to 67 are omnidirectional. In the device as shown in FIG. 4 (A), when the submarine 25 (FIG. 2) first sails, the control processing unit 56 (FIG. 2) turns on only the transmission switch of the transducers 60, 61 by the relay 53. .

Subsequently, the submersible 25 is operated by the transducers 60, 61.
When approaching between the two, the control processing unit monitors the arrival direction of the sound wave from the submersible 25, which is zero as shown in FIG. 4 (B).
When it becomes the ° direction, in order to transmit the sound waves of the next transducers 62 and 63, the transmission switch of the transducers 60 and 61 is turned off by the relay, and the transmission switch of the transducers 62 and 63 is turned off. Turn on.

Then, as shown in FIG. 4 (C), the submersible 2
When 5 approaches between the transducers 64 and 65 from an oblique direction,
The control processing unit monitors the sound wave from the submersible 25, and when the arrival direction of the sound wave from the transducer 65 becomes 0 °, it is determined that the sound wave has passed between the transducers 64 and 65, and is transmitted and received by the relay. The transmission switches of the devices 64 and 65 are turned off, and the transmission switches of the wave transceivers 66 and 67 are turned on.

Thereafter, when the submarine navigates on the planned route indicated by the broken line, the control processing unit sequentially switches each switch by the release depending on the arrival direction of the low frequency sound wave f ₁ (FIG. 2) transmitted by the submarine. . Finally, when the submarine reaches the underwater station 59, the control processing unit causes the transducers 68, 6
The transmission switch 9 is turned off.

Further, the flow chart of FIG. 5 shows the processing procedure of the apparatus of FIG.

According to the apparatus of this embodiment, the control device sequentially transmits from the plurality of right and left paired transducers based on the transmission from the submersible vessel, and the sonar indicator of the submersible vessel is displayed. By sequentially receiving the waves transmitted from the plurality of right and left paired wave transmitters / receivers, the submersible is guided to the target underwater station, so that the following effects can be obtained. (1) The navigation method of the submersible becomes a guide method, which simplifies the maneuvering of ships and thus reduces the operator's efforts. (2) The navigation method of the submersible will be the guidance method, and the track will always have the shortest distance, thus improving the operating economy.

[0024]

In summary, according to the present invention, a plurality of low-frequency sound waves which are different from each other and are arranged in the water one by one on the left and right along the underwater navigation route between different underwater stations can be transmitted. A pair of right and left transducers, a control device connected to each of the above transducers by an underwater cable,
A low frequency sound transmitter / receiver mounted on a submersible and a sonar indicator are provided, and the control device sequentially transmits from the plurality of left and right paired transmitters / receivers based on the transmission from the submersible, The sonar indicator of the submersible has a plurality of left and right 1
The submersible is guided to the target underwater station by sequentially receiving the waves transmitted from the counter wave transmitter / receiver, so that the marine vessel maneuvering is easy and the track is always the shortest distance. INDUSTRIAL APPLICABILITY The present invention is extremely useful industrially, since an underwater acoustic sign device for guiding a submersible, which has reduced labor and is excellent in economy, is obtained.

[Brief description of drawings]

FIG. 1 is an overall plan view showing an embodiment of the present invention.

FIG. 2 is a block diagram showing the configuration of the apparatus shown in FIG.

FIG. 3 shows the position of the submarine in FIG. 1 and the image reception relationship obtained by the control device via each transducer in the water, (B),
(D), (F), (H), and (J) are plan views showing their positions.
It is a diagram corresponding to (A), (C), (E), (G), and (L).

4 (A) is a plan view showing the arrangement of each underwater transducer of a device different from that in FIG. 1, and (B) and (C) are the underwater transducers recognizing the passage of a submersible. It is a top view which shows the point.

5 is a flow chart showing the processing means of the apparatus of FIG.

[Explanation of symbols]

1 Underwater station 2 Underwater station 3 Underwater station 4 Transducer 5 Transducer 6 Transducer 6 Transducer 8 Transducer 9 Transducer 10 Transducer 11 Transducer 12 Platform 13 Platform 14 Platform 15 Underwater cable 16 Underwater cable 17 Underwater cable 18 Underwater cable 19 Underwater cable 20 Underwater cable 21 Underwater cable 22 Underwater cable 23 Underwater cable 24 Underwater cable 25 Submarine vessel 27 Sonar indicator 28 Sonar processor 29 Filter and phase adjuster 30 Power supply 31 Signal generator (SG) 32 amplifier 33 wave transmitter / receiver 34 wave transmitter / receiver 35 filter and phase shifter 36 amplifier 37 filter 38 amplifier 39 power supply 40 underwater connector 41 underwater cable 42 underwater connector 43 Dynamic power supply 44 Switch 45 Switch 46 Switch 47 Amplifier 48 Amplifier 49 Amplifier 50 Signal generator (SG) 51 Signal generator (SG) 52 Signal generator (SG) 53 Relay 54 Amplifier 55 Sonar processor 56 Control processing unit 57 Operation unit 58 Underwater station 59 Underwater station 60 Transducer 61 Transducer 62 Transducer 63 Transducer 64 Transducer 65 Transducer 66 Transceiver 67 Transducer 68 Transceiver 69 Transceiver Wave instrument f ₁ low frequency sound wave f ₂ low frequency sound wave f ₃ low frequency sound wave f ₄ low frequency sound wave f ₅ low frequency sound wave f ₆ low frequency sound wave f ₇ low frequency sound wave f ₈ low frequency sound wave f ₉ low frequency sound wave

Claims (1)

[Claims] 1. A plurality of left and right units 1 and 2 which are sequentially arranged in the water one by one along the underwater navigation route between different underwater stations and can transmit different low frequency sound waves.
A counter wave transmitter / receiver, a control device connected to each of the wave transmitters / receivers by an underwater cable, a low frequency sound wave transmitter / receiver and a sonar indicator mounted on a submersible, and the control device includes the diving Based on the transmission from the ship, the plurality of left and right paired transducers are sequentially transmitted, and the sonar indicator of the submersible vessel sequentially receives the transmissions from the plurality of left and right paired transducers. As a result, the underwater acoustic sign device for guiding a submersible is characterized in that the submersible is guided to a target underwater station.