CN113740918A - Underwater active electric field detection device and detection method of three-dimensional cylindrical electrode array - Google Patents
Underwater active electric field detection device and detection method of three-dimensional cylindrical electrode array Download PDFInfo
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Abstract
三维柱面电极阵列的水下主动电场探测装置及探测方法，包括载体、发射电极和接收电极；发射电极和接收电极均设置在载体的外表面上；发射电极包括正发射电极和负发射电极，正发射电极和负发射电极关于载体的轴线对称，正发射电极和负发射电极的连线将载体分为两部分，若干接收电极分别设置在两部分上。本发明通过采用三维电极阵列的探测装置实现对水下目标物的三维电场探测，相比于采用平面电极阵列的水下电场探测装置具有更大的有效探测空间和更高的探测精度。探测装置的三维电极阵列布置在柱面上，适用于潜艇、AUV等水下航行器的外表面，阵列长度不固定，可根据应用场合调整，具有更好地实际适用性和广阔的实际应用前景。
An underwater active electric field detection device and detection method of a three-dimensional cylindrical electrode array, comprising a carrier, a transmitting electrode and a receiving electrode; the transmitting electrode and the receiving electrode are both arranged on the outer surface of the carrier; the transmitting electrode includes a positive transmitting electrode and a negative transmitting electrode, The positive emitting electrode and the negative emitting electrode are symmetrical about the axis of the carrier, the connection line between the positive emitting electrode and the negative emitting electrode divides the carrier into two parts, and several receiving electrodes are respectively arranged on the two parts. The invention realizes the three-dimensional electric field detection of the underwater target by using the detection device of the three-dimensional electrode array, and has larger effective detection space and higher detection accuracy than the underwater electric field detection device using the plane electrode array. The three-dimensional electrode array of the detection device is arranged on a cylindrical surface, which is suitable for the outer surface of submarines, AUVs and other underwater vehicles. The length of the array is not fixed and can be adjusted according to the application, which has better practical applicability and broad practical application prospects. .
Description
Technical Field
The invention belongs to the technical field of underwater detection, and particularly relates to an underwater active electric field detection device and method of a three-dimensional cylindrical electrode array.
Background
The underwater target object detection is a key research object in the field of modern national defense and ocean engineering, and the traditional underwater detection mode comprises acoustic detection and optical detection. The acoustic detection is based on the propagation and reflection characteristics of sound waves in water, has the advantages of large detection power, long propagation distance and the like, but is easy to generate reverberation interference, and the short-distance detection precision is not high. The optical detection is based on the transmission, refraction and reflection of light under water, and the image acquisition is directly carried out on the underwater target object through the optical imaging equipment, so that the optical detection device has the advantages of good imaging effect, high identification precision and the like, but the detection distance is short, the water transparency is high, and the detection effect in turbid water is poor.
Underwater electric field detection is an effective complement to the traditional underwater detection method. The detection principle can be divided into underwater passive electric field detection and underwater active electric field detection, and the difference between the passive electric field detection and the active electric field detection is whether a detection device actively generates an electric field. In passive electric field detection, a detected target generates an electric field or generates weak disturbance on an ocean geomagnetic electric field due to the existence of the electric field, and a receiving electrode captures electric field information or electric field disturbance generated by the target by acquiring data such as electric potential, electric field strength and the like at different positions in water, so that the underwater target is detected. In the active electric field detection, a detection device comprises a receiving electrode and a transmitting electrode, the transmitting electrode generates an active electric field underwater, the presence of a target object enables the underwater active electric field established by the transmitting electrode to generate disturbance, and the receiving electrode captures a disturbance signal of the electric field, so that the detection function is realized.
Compared with underwater passive electric field detection, underwater active electric field detection has stronger anti-interference capability and higher detection precision, so that underwater active electric field detection becomes one of the research hotspots in the current ocean detection field.
The current underwater active electric field detection device usually adopts a two-dimensional plane electrode array, namely, electrodes are arranged in a two-dimensional plane, the plane is generally parallel to the water bottom, the effective detection water area of the detection device is a projection space of a closed graph surrounded by the electrodes to the water bottom, the detection space is very limited, and the depth information of a target object is difficult to obtain. In addition, the detection device adopting the two-dimensional planar electrode array is difficult to be effectively combined with the cylindrical surface shapes of the current mainstream underwater vehicles such as submarines and AUVs, so that the propulsion efficiency is reduced due to damage to the streamline shells of the vehicles, and the stability of the vehicles can be disturbed.
Disclosure of Invention
The invention aims to provide an underwater active electric field detection device and method of a three-dimensional cylindrical electrode array, and aims to solve the problems that an underwater electric field detection device adopting a two-dimensional planar electrode array is small in detection range, low in depth detection precision and poor in adaptability on an actual underwater vehicle.
In order to achieve the purpose, the invention adopts the following technical scheme:
the underwater active electric field detection device of the three-dimensional cylindrical electrode array comprises a carrier, a transmitting electrode and a receiving electrode; the transmitting electrode and the receiving electrode are both arranged on the outer surface of the carrier;
the transmitting electrode comprises a positive transmitting electrode and a negative transmitting electrode, the positive transmitting electrode and the negative transmitting electrode are symmetrical about the axis of the carrier, the carrier is divided into two parts by a connecting line of the positive transmitting electrode and the negative transmitting electrode, and the receiving electrodes are respectively arranged on the two parts.
Further, the carrier is a hollow cylindrical carrier, and the wall thickness t of the carrier is 0.02-0.03 times of the outer diameter d; the carrier is made of an insulating material.
Furthermore, the excitation signal on the emitter electrode is a single-frequency sinusoidal signal, the amplitude of the excitation signal is determined according to the requirements of the detection power and the detection range, the frequency range of the excitation signal is 0-30kHz, the amplitudes and the frequencies of the excitation signals on the positive emitter electrode and the negative emitter electrode are completely the same, and the phase of the signal on the negative emitter electrode lags behind the phase of the signal on the positive emitter electrode by 180 degrees.
Further, the positive transmitting electrode and the negative transmitting electrode are in the form of long thin strips or long cylinders, which are independent entities, and the length of each long thin strip is less than or equal to the length of the carrier, and the length range is required to cover all receiving electrodes.
Furthermore, the receiving electrode is a plurality of discrete independent electrodes, the receiving electrode is arranged on two symmetrical semi-cylindrical surfaces formed by dividing the transmitting electrode, the distribution of the receiving electrode on the two cambered surfaces is completely the same, and the horizontal included angle theta between the distribution point of the receiving electrode and the central connecting line of the carrier is 30 degrees.
Furthermore, the shape of the receiving electrode is a circular or regular polygonal sheet, the diameter or diagonal length of the receiving electrode is 0.01-0.05 times of the length of the transmitting electrode, and the thickness of the receiving electrode is 0.1 times of the diameter or diagonal length of the receiving electrode.
Furthermore, the receiving electrodes on the carrier can be divided into four linear sub-arrays of LU, LD, RU and RD, each sub-array is provided with n receiving electrodes, wherein n is more than or equal to 2; the receive electrode spacing within each subarray is the same, between the diameter or diagonal length of the receive electrodes and one half the transmit electrode length.
Further, the detection method of the underwater active electric field detection device of the three-dimensional cylindrical electrode array comprises the following steps:
firstly, the potential difference between LU and RU, LD and RD is received
To determine that the object is located on one side of the detection device,
representing the average potential of the receiving electrode sub-array,
XX＝LU，LD，RU，RD，
representing the potential of the ith receiving electrode in the XX sub-array;
after a target is determined to be positioned at one side of the detection device, reading potential data of n receiving electrodes in a subarray positioned at the side, establishing a covariance matrix R, and then adopting a common positioning algorithm to realize plane direction angle estimation of the target relative to the detection device so as to realize plane position detection of the target;
basis for plane position detectionAfter the depth detection is carried out, the plane position detection determines one side of the target object, and the potential difference between the two sub-arrays on the side is obtained
The depth of the target object relative to the detection device is estimated, and W is L, R, which indicates the side where the target is located.
Compared with the prior art, the invention has the following technical effects:
the transmitting electrode generates an active electric field in water, the receiving electrode acquires electric field information in the water, when a target object enters an effective detection area, the existence of the target object enables the established electric field to be disturbed, the electric field is reflected in the form of potential difference on the receiving electrode, data acquired by each receiving electrode are analyzed and processed, and the underwater target is detected. The three-dimensional electrode array of the detection device is arranged on the cylindrical surface, is suitable for the outer surfaces of underwater vehicles such as submarines, AUVs and the like, is unfixed in array length, can be adjusted according to application occasions, and has better practical applicability and wide practical application prospect.
Drawings
FIG. 1 is a schematic view of a detection apparatus;
FIG. 2 is a distribution diagram of an electrode array on a section of a detection device;
fig. 3 is an exemplary diagram of a probe apparatus with n-8;
FIG. 4 is a schematic view of a detection space;
fig. 5 is a detection flow chart.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
referring to fig. 1 to 5, an underwater active electric field detection device using a three-dimensional cylindrical electrode array is composed of electrodes and a carrier; the three-dimensional cylindrical electrode array is a spatial three-dimensional array, and all electrodes are distributed on the outer surface of the hollow cylindrical carrier; the electrodes in the electrode array are divided into a transmitting electrode and a receiving electrode, the transmitting electrode generates an active electric field in water, the receiving electrode collects electric field information in the water, when a target object enters an effective detection area, the existence of the target object enables the established electric field to be disturbed, the electric field is reflected in the form of potential difference on the receiving electrode, data collected by the receiving electrodes are analyzed and processed, and detection of underwater targets is achieved.
In this embodiment, the probe carrier 7 is a thin-walled cylinder, and is suitable for the outer surface of an underwater vehicle such as a submarine or an AUV, the outer diameter d of the carrier is 200mm, the wall thickness is 0.02 to 0.03 times of the outer diameter, the wall thickness t of the carrier is 5mm, the length L of the carrier is 500mm, and the carrier is made of an insulating material.
The detection electrode of the detection device comprises a transmitting electrode and a receiving electrode, the transmitting electrode comprises a positive transmitting electrode 1 and a negative transmitting electrode 2, an excitation signal on the transmitting electrode is a single-frequency sinusoidal signal, the amplitude of the excitation signal is determined according to the detection power and the detection range, the amplitude range of the excitation signal is 0-20V, the frequency range of the excitation signal is in the very low frequency range of 0-30kHz and below, the amplitude and the frequency of the excitation signal on the positive transmitting electrode and the negative transmitting electrode are completely the same, but the phase of the signal on the negative emitter lags behind the positive emitter by 180 degrees.
The shape, size and material of the emitter electrode 1 and the emitter electrode 2 are all the same, and the emitter electrode is made of a material which is good in stability in water, good in conductivity and corrosion resistant because the detector is completely immersed in water when working. The emitter electrode is arranged in a shallow groove pre-processed on the outer surface of the carrier, in order to reduce the damage of the emitter electrode to the outer cylindrical surface of the carrier to the maximum extent, the emitter electrode is in the shape of a long strip sheet, and the length L of the emitter electrode is equal to that of the emitter electrodeEIs equal to or slightly shorter than the length L and the width W of the carrierEAbout 0.1 times the outer diameter of the support and a thickness tEAbout width WE0.1 times of the length of the emitter electrode L in this exampleE450mm, width WE20mm, thickness tE＝2mm。
The receiving electrode array 3 is formed by the shape, size and materialThe receiving electrode array can be divided into 4 sub-arrays, each sub-array in the embodiment is composed of 8 receiving electrodes in a linear array, 32 receiving electrodes are totally formed, and the receiving electrodes are made of pure titanium. In this embodiment, the receiving electrode is a square thin plate, and the side length of the square is the main dimension L of the receiving electrodeRIs the length L of the emitting electrodeE0.01-0.05 times of (A), taking LR10mm, thickness t of receiving electrodeRMajor dimension LRAbout 0.1 times of the thickness of the receiving electrode, tRThe receiving electrode is controlled to be much smaller than the size of the transmitting electrode to reduce the influence of the existence of the receiving electrode on the detection electric field as much as possible.
The electrode array distribution on the section of the detection device is shown in fig. 2, the positive transmitting electrode EP and the negative transmitting electrode EN are symmetrical about a horizontal plane passing through the axis of the array, the four linear sub-arrays of the receiving electrode array are 5(LU), 6(LD), 3(RU) and 4(RD), the four linear sub-arrays are arranged on two symmetrical hemispherical surfaces formed by dividing the transmitting electrode, the distribution on the two cambered surfaces is completely the same, and the horizontal included angle theta between the distribution point of the receiving electrode and the central connecting line of the carrier is 30 degrees.
The receiving electrodes in four linear sub-arrays LU, LD, RU, RD of the receiving electrode array are distributed completely the same, each sub-array has n (n is more than or equal to 2) receiving electrodes, in this embodiment, n is 8, and the receiving electrode spacing d in each sub-arrayRSatisfy the requirement of
Get dRThe receiving electrode is mounted in a shallow groove machined beforehand on the outer surface of the carrier, 55 mm.
The detection area of the detection device is approximately a three-dimensional sphere space with the detection device as the center as shown in fig. 4, and a target object entering the detection area can interfere with an active electric field generated by a transmission electrode of the detection device in water due to the fact that the dielectric constant epsilon or the conductivity sigma of the target object is different from that of an environmental water body, so that the distribution of the electric field in the area is distorted, and a receiving electrode of the detection device can capture the change and reflect the change as potential differences on different receiving electrodes.
Detection deviceThe detection of the underwater target in the three-dimensional space is realized by two aspects of plane position detection and depth detection, and the detection process is shown in fig. 5. The plane position detection is performed by receiving the potential difference between the electrode subarrays LU and RU, LD and RD
To determine that the object is located on one side of the detection device,
representing the average potential of the receiving electrode sub-array,
(XX＝LU，LD，RU，RD)，
representing the potential of the ith receive electrode in the XX sub-array. After a target is determined to be positioned at one side of the detection device, reading potential data of n receiving electrodes in one subarray positioned at the side, establishing a covariance matrix R, and estimating a plane direction angle phi of the target relative to the detection device by adopting a common space signal arrival algorithm, thereby realizing plane position detection of the target. The depth detection is based on the detection of the plane position, which determines the side of the object and passes through the potential difference between the two subarrays on this side
To estimate a depth azimuth Ψ (W L, R, indicating the side where the target is located) of the target object relative to the detection device, thereby achieving depth position detection of the target.
Claims (8)
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