KR101360273B1 - System for sensing position variation of submarine landform coordinates and water depth information through reference points setting - Google Patents

Abstract

The purpose of the present invention is to maintain the horizontality of an underwater detector which explores submarine topography by connecting and towing an exploring vessel with the underwater detector using a wire and by connecting a power line and a communication line, and to prevent cutting or a short circuit during winding. A system prepared by the present invention comprises a lifting device, a submarine photographing device, and a submarine image correcting device. The lifting device comprises: an exploring vessel having an exploring vessel body which moves on the water, a supporting body which is installed in the upper part of the exploring vessel body in a vertical direction, a horizontal body which is installed in the supporting body in a horizontal direction, and multiple guide bodies; a driving device which rotates the supporting body; a winding drum which is installed in the exploring vessel body to be able to rotate; a driving motor which rotates the winding drum; and a lifting wire which is wound on the winding drum. The submarine photographing device comprises: a detector body which is towed by being connected with the lifting wire; an ultrasonic sensor which is installed in the detector body; an underwater camera which is installed in the detector body; a location tracking device which is installed in the detector body; and an underwater detector having a transmitting unit which transmits an ultrasonic signal, an image signal, and a location signal. The submarine image correcting device comprises: a correcting device body which is installed in the exploring vessel of the submarine photographing device; a storing unit which stores submarine images; a receiving unit which receives the ultrasonic signal, the image signal, and the location signal from the transmitting unit in the underwater detector; a control unit which generates submarine images by receiving the ultrasonic signal, displays submarine images by receiving the image signal, displays the location of the submarine images by receiving the location signal, and performs deletion and correction; an input unit which inputs a control signal to the control unit; and an output unit which displays the submarine images.

Description

System for sensing position variation of submarine landform coordinates and water depth information through reference points setting}

The present invention relates to a position change confirmation and depth information detection system of submarine topographical coordinates by setting a reference point, and more specifically, towing a probe and an underwater probe by a wire, and to the power ship and a communication line. In the exploration of the seabed topography, it is necessary to keep the underwater probe towed by the ship to collect accurate underwater topography information and to reliably prevent the cutting or shorting of the power line and the communication line wound on the winding drum together with the wire. The present invention relates to a position change confirmation and depth information detection system of submarine topographical coordinates by setting a reference point.

In general, the seabed exploration work performed for the investigation of the seabed status, marine fish stocks and various wastes is an important part of the marine research field.

Such exploration work has been performed by the operator by directly controlling and controlling the survey equipment (measurement equipment, exploration equipment) in the offshore sea, or by exploration work using an unmanned probe.

However, in the former case, not only does the work be difficult when the water depth is deep, but there is also a problem related to the safety of the worker. In the latter case, since the equipment itself is very expensive, it is useful for the investigation of subsea waste. There is a problem that it is not suitable.

In view of such a problem, conventionally, an operation method of irradiating a seabed by attaching irradiation equipment such as an underwater photographing apparatus that can be photographed to an exploration body towed by a marine vessel is used.

The survey method by underwater exploration body is a video recording method, and it is impossible to carry out the work collectively because it needs to be lifted to the surface in order to know the result of waste after seabed shooting and sea bottom exploration. A system for investigating this is required. In addition, the nature of seabed surveys requires equipment to locate the exact location of the waste at a deeper depth.

Accordingly, the submarine exploration system towing the exploration body by the vessel operates by separating the three cables of the signal cable, the towing cable and the power cable separately, and operating the three cables in one, that is, three cables There is a way to operate in one cable.

In the case of the separate cable type, there are problems such as the trouble of installation, difficulty in installation, management, and possibility of disconnection of the cable due to the use of two or more winches.In the case of the integrated cable type, when the depth of investigation is deep, There is a problem such as the vast scale of the system construction.

In addition, when operating in the above manner in the collision with the irradiation equipment by obstacles such as sea floor waste, it is generally only 7m ahead of the depth of the irradiation equipment to secure a wider field of view to prevent collision. .

The conventional prior art for solving this problem consists of a probe and an underwater probe to use the underwater wireless communication method, to solve the problems of the conventional cable communication technology, and to secure the field of view required for systematic sea bottom exploration. "Submarine surface exploration system using underwater wireless communication method" is disclosed in Korean Patent Registration No. 10-0607548 (July 25, 2006).

However, since the patent registration No. 10-0607548 uses a wireless communication method, it is susceptible to interference with other sound waves, thereby making it difficult to accurately transmit and receive communication data, and also connect a probe and an underwater probe. It is difficult to move the probe and the underwater probe due to the net being caught in the wire, and there is a problem that the wire is cut and loses the underwater probe.

In addition, as a conventional prior art for solving the problems of the patent registration No. 10-0607548, the communication line is composed of a wire to increase the communication efficiency, to collect the marine information stably, to obtain accurate marine information through the underwater camera A submarine topography information management system that secures coordinate information, topographical information, and depth information and completes accurate submarine data is disclosed in Korean Patent Registration No. 10-0936504 (2010.01.05.).

The patent registration No. 10-0936504 provides information obtained from power lines and underwater probes for connecting the probe and the underwater probe by the lifting wire and allowing the underwater probe to be towed by the probe, as well as supplying power to the underwater probe. It is wound on the winding drum together with the lifting wire to transfer the communication line to the probe. The power line and the communication line are positioned between the two strands of wire, and the wire and the power line and the communication line are wound around the winding drum in the shape of a cover. Will be.

However, since the wire connecting the probe and the underwater probe is connected to the center of the upper surface of the underwater probe, the underwater probe cannot be leveled while the probe is towing the underwater probe, and the front part is to be drooped downward. As a result, the underwater detection performance is deteriorated, and therefore, there is a problem in that it is impossible to accurately collect the seabed terrain information.

In addition, the power line and the communication line has a problem that the power line and the communication line having a lower mechanical strength than the wire in the process of winding together with the wire is cut or cause a short circuit.

Therefore, it is possible to collect accurate underwater topography information by keeping the underwater probe towed by the probes horizontally, and to prevent the occurrence of short circuits or short circuits of power lines and communication lines wound on the winding drum together with wires. As a result, it is necessary to develop a position change detection system and a depth information detection system of the seabed topographic coordinates by setting the reference point.

Republic of Korea Patent Registration No. 10-0607548 (registered July 25, 2006) "Submarine surface exploration system using underwater wireless communication method" Republic of Korea Patent Registration No. 10-0936504 (registered October 10, 2010)

Therefore, an object of the present invention is to tow the probe and the underwater probe by the wire, and to connect the probe and the underwater probe to the power line and the communication line in the exploration of the seabed topography to keep the underwater probe towed by the probe to keep the horizontal Determination of position change of submarine topographical coordinates and detection of depth information through reference point setting to ensure accurate underwater terrain information is collected and to prevent the occurrence of cuts or shorts in power lines and communication lines wound on winding drums together with wires. To provide a system.

Position change confirmation and depth information detection system of the seabed topographic coordinates by setting the reference point of the present invention devised to achieve the above object, and the probe body moving on the water surface, in the vertical direction on the top of the probe body A probe provided with a support provided, a horizontal body installed in the horizontal direction on the support, and a plurality of guide bodies installed on the support or the horizontal body; A drive device installed at the probe ship body to rotate the support; A lifting device configured to be rotatably installed on the probe body, a driving motor installed on the probe body to rotate the winding drum, and a lifting device wound on the winding drum; A detector body connected to the lifting wire and towed by the probe, an ultrasonic sensor installed on the bottom of the detector body, an underwater camera installed on the bottom of the detector body, a position tracking device installed on the detector body, and a detector body An underwater detector installed at the transmission unit for transmitting an ultrasonic signal of an ultrasonic sensor, an image signal of an underwater camera, and a position signal of a position tracking device; A communication line wound with the lifting wire and electrically connected to the transmitter of the underwater detector; A subsea imaging apparatus including a power line wound with the lifting wire and supplying electric power; A correction device body installed on the probe of the subsea imaging device; A storage unit installed in the body of the correction device and storing the seabed image; A receiver installed at the body of the correction apparatus and electrically connected to a communication line, the receiver receiving an ultrasonic signal, an image signal, and a position signal from a transmitter of the underwater detector; Installed in the body of the correction device, the operation of the storage unit, and receives the ultrasonic signal from the receiving unit to generate the submarine image, receiving the image signal from the receiving unit to represent the undersea image, the position of the collected subsea image by receiving the position signal from the receiving unit A control unit for deleting or correcting a seabed image according to a control signal of an input unit; An input unit installed in the body of the correction apparatus and operated by the controller to input a control signal to the controller; Installed on the body of the correction device, and is controlled by the control unit, and comprises a subsea image correction device having an output unit for displaying a subsea image, the lifting wire is a pair of main wires arranged side by side at a predetermined interval, A pair of auxiliary wires disposed between the main wires, an inner insulation tube which is coated on the outer circumferential surface of the auxiliary wire and the communication line and the power line are wound in a coil shape, an outer insulation tube which is covered on the outer circumference of the communication line and the power line, And a steel mesh tube forming an outer edge of the wire, and an insulating filler filled between the inner circumferential surface of the steel mesh tube and the outer circumferential surface of the main wire and the outer insulating tube, and the main wire of the lifting wire is formed at the tip of the detector body. A wire connector for connecting is provided, and inside the tip of the detector body Is provided with a guide that auxiliary wire is fixed, the support unit may be provided with a terminal portion to be connected to the communication line as a power line.

According to the present invention, when connecting the underwater detector and the lifting wire, the wire connector is provided at the tip of the underwater detector, and the main wire is connected to the underwater detector, which is towed by the probe to maintain the level in the water. Information can be collected.

In addition, when an external force is applied to the communication line and the power line by the external force, the communication line and the power line is disconnected, but may not be able to perform the function smoothly, the present invention, when the external force acts on the lifting wire, the first steel mesh The tube comes into contact with the object to be contacted, and an insulating filler provided therein buffers external force.

In particular, since the communication line and the power line are disposed between the main wires and the outer circumferential surface thereof is disposed inward of the outer circumferential surface of the main wire, various external forces act on the main wires, and external forces do not directly act on the communication lines and power lines. . In addition, since the communication line and the power line cover the inner insulation tube on the auxiliary wire and are wound spirally on the auxiliary wire, there is no cutting or shorting even when a tensile force is applied, and the outer insulation tube is coated on the outer circumferential surface thereof, and the insulating filler Is filled with steel mesh tube at the end, so it is reliably protected from external force or corrosion.

In addition, since the outer portion of the lifting wire is configured by a steel mesh tube, it is possible to prevent the lifting wire itself from being damaged while the lifting wire is wound around the winding drum or guided to the guide body.

1 to 9 show a preferred embodiment of the position change confirmation and the depth information detection system of the seabed topographic coordinates by setting the reference point according to the present invention,
1 is a block diagram of a system according to the present invention;
2 is a schematic side view of a system according to the present invention;
3 is an exploded perspective view showing a lifting wire;
4 is a longitudinal sectional view of the lifting wire;
5 is a cross-sectional view of the winding apparatus;
Figure 6 is a perspective view showing the connection between the underwater detector and the lifting wire,
Figure 7 is a side view showing the connection between the underwater detector and the lifting wire,
8 is a partially enlarged cross-sectional view of FIG. 7;
And
9 is an operational view showing an operating state of the system according to the present invention.

Hereinafter, with reference to the accompanying drawings, preferred embodiments of the position change confirmation and the depth information detection system of the seabed topographic coordinates by setting the reference point according to the present invention will be described in detail.

The position change and depth information detection system of the seabed topographic coordinates by setting the reference point according to the present invention is a seabed photographing apparatus 100 for photographing the seabed topography, and receiving an ultrasonic signal from the subsea photographing apparatus 100 to receive a seabed image Comprising a seabed image correction device 200 to correct.

The subsea imaging device 100 includes a probe 110 moving on the surface of the water, a drive device 120 installed on the probe 110, a lifting device 130 installed on the probe 100, and It includes a submersible detector 140 connected to the probe vessel 110 to move underwater, a communication line 150 to which communication data is moved, and a power line 160 to which power is supplied.

The probe 110 is provided with a probe body 111 moving on the water surface, a lower body 116 installed at the rear of the probe body 111, and rotatably installed on the upper part of the lower body 116. The revolving body 117, the support body 112 vertically placed on the upper portion of the revolving body 117, the horizontal body 113 provided in the horizontal direction on the upper side of the support body 112, and the support body 112. A plurality of guide body 114 is installed on the side or the lower surface of the horizontal body 113, and the lifting device case 115 is installed on the upper portion of the lower body (116).

The drive device 120 is a conventional motor using a hydraulic or electricity is used, it is built in the lower body 116 to rotate the swinging body 117. On the other hand, the drive device 120 is used in a conventional crane device and the connection relationship between the drive device 120 and the swinging structure 117 will be omitted.

The lifting device 130 includes a winding drum 131 rotatably installed in the lifting device case 115, a driving motor 132 installed in the lifting device case 115 to rotate the winding drum 131. , One end of which is drawn into the winding drum 131 to be fixed and includes a lifting wire 133 wound around the winding drum (see FIGS. 3 to 5).

The lifting wire 133 includes a pair of main wires 134 and 134 disposed side by side at a predetermined interval, a pair of auxiliary wires 135a and 135b disposed between the main wires 134 and 134, and an auxiliary wire. The inner insulation tubes 136a and 136b coated on the outer circumferential surfaces of the wires 135a and 135b, the communication line 150 wound in a coil shape on the outer circumferential surface of the inner insulation tube 136a, and the coil on the outer circumference of the insulation tube 136b. Steel mesh tube forming the outline of the power line 160 wound in the shape, the outer insulation tube (136c, 136d) and the lifting wire 133 is covered with the communication line 150 and the outer periphery of the power line 160 tube) 137 and an insulating filler 138 filled between the inner circumferential surface of the steel mesh tube 137 and the outer circumferential surface of the main wires 134 and 134 and the outer insulating tubes 136c and 136d.

In fixing the main wire 134 and the auxiliary wires 135a and 135b to the winding drum 131, a ring (not shown) is coupled to the main wire 134 and the auxiliary wires 135a and 135b. It can be fixed by bolts and nuts.

Insulation fillers charged between the outer insulating tubes 136c and 136d surrounding the outer circumferential surfaces of the communication line 150 and the power line 160 and the outer circumferential surfaces of the main wires 134 and 134 and the outer insulating tubes 136c and 136d ( 137 and a steel mesh 138 surrounding the outer surface of the insulator 137.

In the communication line 150 and the power line 160, the outer circumferential surfaces of the outer insulating tubes 136c and 136d coated on the outer circumferential portion of the main wire are disposed so that the winding pressure generated when the lifting wire 133 is wound is not directly applied. It is preferable to comprise so that it may be located inward rather than the outer peripheral surface of 134. FIG.

A through hole 131a is formed in an upper portion of the winding drum 131, and one end of the main wires 134 and 134 and the auxiliary wires 135a and 135b introduced into the through hole 131a is inside the winding drum 131. Is fixed to. The main wires 134 and 134 may be exposed by peeling off the steel mesh tube 137 and the insulating filler 138.

The communication line 150 drawn into the winding drum 131 is electrically connected to the receiving unit 230 of the subsea image correction apparatus 20, and the power line 160 is a power supply unit provided in the probe vessel 110. Electrical connection). The communication line 150 and the power line 160 are connected to the receiver 230 and the power supply so as not to interfere with the rotation of the winding drum 131.

The communication line 150 and the power line 160 may be exposed to the outside by peeling off the steel mesh tube 137, the insulating filler 138, and the outer insulating tubes 136c and 136d.

The other end of the lifting wire 133 is drawn out of the lifting device case 115 and guided by the guide body 114 to be connected to the underwater detector 140.

The underwater detector 140 is a streamlined detector body 141 that moves underwater, an airtight member P installed in the detector body 141, and is installed on the bottom surface of the detector body 141, and ultrasonic waves are directed to the sea bottom. Ultrasonic sensor 142 for transmitting and receiving the reflected wave, the underwater camera 145 is installed on the bottom of the detector body 141 to photograph the seabed topography, the position tracking device 143 installed in the detector body 141 and And a transmitter 144 installed in the detector body 141 to output an ultrasonic signal of the ultrasonic sensor 142, an image signal of the underwater camera 145, and a position signal of the position tracking device 143. The location tracking device 143 employs conventional GPS techniques (see FIGS. 6-8).

The front end of the detector body 141 is provided with a wire connector 141a for connecting the main wire 134 of the lifting wire 133. The wire connector 141a is formed with a connecting hole 141b into which the connecting ring 134a coupled to the front end of the main wire 134 is fitted.

Inside the distal end of the detector body 141, a fixing bar 141c is provided to which the auxiliary wires 135a and 135b are fixed, and a terminal unit 141d to which the communication line 150 and the power line 160 are connected. Is provided.

In fixing the auxiliary wires 135a and 135b to the holder 141c, a ring (not shown) may be coupled to the auxiliary wires 135a and 135b, and the ring may be fixed by bolts and nuts.

The communication line 150 and the power line 160 are inserted into the inside of the detector body 141 through the tip of the detector body 141. And the airtight holding member 139 is installed.

The underwater camera 145 is to more accurately check the terrain that is not measured by the ultrasonic sensor 142, is installed on the bottom of the detector body 141 to accurately photograph the seabed topography.

The transmitter 144 is installed in the detector body 141, and is electrically connected to the ultrasonic sensor 142, the underwater camera 145, and the position tracking device 143, so that the ultrasonic signal of the ultrasonic sensor 142 and the underwater camera ( The video signal of 145 and the location signal of the location tracking device 143 are output.

The subsea image correction apparatus 200 is installed in the correction device body 210, installed on the probe 110 of the subsea imaging device 100, the correction device body 210 is operated by the control unit 240 And a storage unit 220 to store the subsea image signal, and a correction unit body 210 and electrically connected to the communication line 150 to receive an ultrasonic signal and a position signal from the subsea photographing apparatus 100 ( 230, a control unit 240 installed in the compensator body 210, and an input unit 250 installed in the compensator body 210 and operated by the control unit 240 to input a control signal to the control unit 240. ) And an output unit 260 installed in the compensator body 210.

The controller 240 receives an ultrasonic signal from the receiver 230, reads the ultrasonic signal, and displays the seabed topography measured by the output unit 260 as a subsea image. In addition, the control unit 250 receives an image signal from the receiving unit 230, reads it, and represents a submarine image representing the seabed topography captured by the output unit 260, and receives the position signal from the receiving unit 130 Indicates the location of the seabed topography measured or photographed. In this case, the controller 240 deletes or stores the seabed image measured according to the control signal of the input unit 250.

The output unit 260 is a conventional display apparatus, which is operated and controlled by the controller 240 to display the measured submarine image and to display the submarine image of the storage unit 220.

7 is a view showing the operation of the seabed topography information management system according to the present invention, the operation of the seabed topography information management system according to the present invention with reference to FIG.

First, the subsea photographing apparatus 100 and the subsea image correcting apparatus 200 are disposed at a place to confirm the change to seawater, and then moved to the front of the probe 110 as shown in FIG. 1, the underwater detector 140 ) Is moved behind the probe while being guided by the probe 110 while being disposed behind the probe 110.

At this time, the ultrasonic sensor 142 transmits the ultrasonic wave to the sea bottom, receives the reflected wave back and outputs the ultrasonic signal for the measured seabed topography, and the transmitter 144 transmits it. In addition, the underwater camera 145 photographs the seabed terrain and transmits an image signal through the transmitter 144. In addition, the position tracking device 143 outputs a position signal indicating the position being measured and photographed, and the transmitter 144 transmits the position signal.

Meanwhile, when the ultrasonic signal, the image signal, and the position signal are output from the transmitter 144, the receiver 230 of the subsea image information apparatus 200 receives the signal and transmits the same to the controller 240. At this time, the controller 240 reads the ultrasonic signal from the ultrasonic sensor 142 to generate a subsea image, and then displays it on the output unit 260, and converts the image signal from the underwater camera 145 into a subsea image and outputs it. The unit 260 shows the measured or photographed position of the seabed image shown in the output unit 260 according to the position signal from the position tracking device 143.

In this case, when the measured submarine image is the same as the existing submarine image, the controller controls the control unit 240 through the input unit 250 to delete the measured or photographed submarine image, and the measured or photographed submarine image is If it is not the same as the existing subsea image, the controller 240 is controlled through the input unit 250 to delete the existing submarine image of the storage unit 220 and then store the newly generated submarine image.

On the other hand, the power supply unit is installed on the probe ship 110 to supply power to the underwater detector 140 is electrically connected to the underwater detector 140 via the power line 160, and the underwater detector transmitter 144 Receiving unit 230 of the subsea image information device 200 is connected over the wire through the communication line 150 to increase the communication efficiency.

According to the present invention, in connecting the underwater detector 140 and the lifting wire 133, a wire connector 141a is provided at the tip end of the underwater detector 140, and the main wires 134 and 134 are connected to the probe ( Underwater detector 140 towed by 110 is able to maintain the level in the water can collect accurate underwater terrain information.

In addition, when an external force is applied to the communication line 150 and the power line 160 by the net, the communication line 150 and the power line 160 is disconnected, but may not be able to perform the function smoothly, the present invention, When an external force acts on the wire 133, the steel mesh tube 137 primarily contacts the object to be contacted, and the insulating filler 138 provided therein buffers the external force.

In particular, since the communication line 150 and the power line 160 are disposed between the main wires 134 and 134, and the outer circumferential surface thereof is located inside the outer circumferential surface of the main wires 134 and 134, various external forces are applied to the main wire ( 134, 134, and external force does not directly act on the communication line 150 and the power line 160. In addition, since the communication line 150 and the power line 160 cover the inner insulation tubes 136a and 136b on the auxiliary wires 135a and 135b and are wound spirally thereon, the communication lines 150 and the power lines 160 are not cut or shorted even when a tensile force is applied. The outer circumferential surface is covered with outer insulating tubes 136d and 136d, and an insulating filler 138 is filled on the outer side thereof, and a steel mesh tube 137 is finally provided on the outer side so that it can be reliably protected from external force or corrosion. Protected.

In addition, since the outer portion of the lifting wire 133 is constituted by a steel mesh tube 137, the lifting wire 133 itself is lifted in the process in which the lifting wire 133 is wound around the winding drum 131 or guided to the guide body 114. It can prevent damage.

As described above, the seabed terrain information management system according to the present invention, by keeping the underwater detector towed by the probe ship horizontally to collect accurate underwater terrain information, the external force to the communication line 150 and power line 160 This does not work directly, there is no fear of disconnection, it is possible to obtain marine information stably, there is an effect that can obtain accurate marine information. In addition, through the underwater camera 145 it is possible to determine the exact seabed topography, it is possible to accurately the seabed topography relationship.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or essential characteristics thereof. Therefore, the embodiments disclosed in the present invention are not intended to limit the scope of the present invention but to limit the scope of the technical idea of the present invention. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas falling within the scope of the same shall be construed as falling within the scope of the present invention.

100: subsea imaging apparatus 110: probe ship
120: drive device 130: lifting device
140: underwater detector 145: underwater camera
150: communication line 160: power line
200: subsea image correction device 210: correction device body
220: storage unit 230: receiving unit
240 control unit 250 input unit
260: output unit

Claims (1)

The probe body 111 moving on the surface of the water, the support body 112 installed in the vertical direction on the probe body body 111, and the horizontal body 113 installed in the horizontal direction on the support body 112. And a probe ship 110 having a plurality of guide bodies 114 installed on the support body 112 or the horizontal body 113; A driving device (120) installed in the probe body (111) to rotate the support (112); A winding drum 131 rotatably installed on the probe body 111, a driving motor 132 installed on the probe body 111 to rotate the winding drum 131, and the winding drum ( A lifting device 130 composed of a lifting wire 133 wound around 131;
A detector body 141 connected to the lifting wire 133 and towed by the probe 110, an ultrasonic sensor 142 installed on the bottom of the detector body 141, and a bottom of the detector body 141. Underwater camera 145 is installed in, the position tracking device 143 is installed on the detector body 141, the detector body 141 is installed on the ultrasonic signal of the ultrasonic sensor 142 and the image of the underwater camera 145 An underwater detector 140 having a transmitter 144 for transmitting a signal and a position signal of the position tracking device 143; A communication line (150) wound together with the lifting wire (133) and electrically connected to the transmitter (144) of the underwater detector (140); A subsea photographing apparatus (100) including a power line (160) wound together with the lifting wire (133) and supplying electric power;
A correction device body (210) installed on the exploration vessel (110) of the subsea imaging device (100); A storage unit 220 installed in the correction device body 210 and storing a seabed image; A receiver 230 installed at the correction device body 210 and electrically connected to the communication line 150 to receive an ultrasonic signal, an image signal, and a position signal from the transmitter 144 of the underwater detector 140; It is installed on the correction device body 210 to operate and control the storage unit 220 to receive and analyze the ultrasonic signal from the receiving unit 230 to generate a subsea image and receive and analyze the image signal from the receiving unit 230 to the seabed A control unit 240 which represents an image and indicates a position of the collected undersea image by analyzing the position signal from the receiver 230 and deletes or corrects the undersea image according to a control signal input from the input unit 250; An input unit 250 installed in the correction device body 210 and operated and controlled by the control unit 240 and inputting a control signal from the outside to the control unit 240; It is configured to include a subsea image correction device 200 is installed in the correction device body 210 and the operation control by the control unit 240 having an output unit 260 for displaying the subsea image,
The lifting wire 133 may include a pair of main wires 134 and 134 disposed side by side at a predetermined interval, and a pair of auxiliary wires 135a and 135b disposed between the main wires 134 and 134. The inner insulation tubes 136a and 136b coated on the outer circumferential surfaces of the auxiliary wires 135a and 135b and the communication line 150 and the power line 160 are wound in coil shapes, respectively, and the communication line 150 and the power line 160. Outer insulation tubes 136c and 136d covering the outer circumference portion, a steel mesh tube 137 forming an outline of the lifting wire 133, an inner circumferential surface of the steel mesh tube 137 and the main wires 134 and 134. ) And an insulating filler 138 filled between the outer circumferential surfaces of the outer insulating tubes 136c and 136d,
The front end portion of the detector body 141 is provided with a wire connector 141a for connecting the main wire 134 of the lifting wire 133,
Inside the distal end of the detector body 141, a fixing bar 141c is provided to which the auxiliary wires 135a and 135b are fixed, and a terminal unit 141d to which the communication line 150 and the power line 160 are connected. Position change check and depth information detection system of the seabed topographic coordinates through the reference point setting, characterized in that the provided.

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