CN107554694B - A kind of unmanned surface vehicle underwater three dimensional terrain detection system - Google Patents
A kind of unmanned surface vehicle underwater three dimensional terrain detection system Download PDFInfo
- Publication number
- CN107554694B CN107554694B CN201710722303.8A CN201710722303A CN107554694B CN 107554694 B CN107554694 B CN 107554694B CN 201710722303 A CN201710722303 A CN 201710722303A CN 107554694 B CN107554694 B CN 107554694B
- Authority
- CN
- China
- Prior art keywords
- sonar
- basic matrix
- surface vehicle
- transducer array
- connecting tube
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The invention discloses a kind of underwater three dimensional terrain detection system of unmanned surface vehicle, main includes hull, GPS sensor, inertial navigation system, multi-beam echo sounding electronic compartment, rings seat, multi-beam sonar basic matrix and its equipped system of unmanned surface vehicle；Multi-beam sonar basic matrix and its equipped system include multi-beam sonar or so basic matrix, Sound speed profile instrument, motor cabinet, motor module, connecting tube, hanging ring, support fish and sonar base array rack composition, multi-beam sonar or so basic matrix is loaded on sonar transducer array frame, it is wrapped in towfish, left and right basic matrix is in 60 °；Sonar transducer array frame is fixed on motor module by connecting tube；Left and right sonar transducer array acquisition acoustic echo data are transferred to the multiple beam electronic cabin being fixed on unmanned boat deck by watertight cable, the underwater topography information of the information such as posture, the speed that electronic compartment is obtained by reception unmanned surface vehicle GPS signal and inertial navigation system, real-time transmission and compensating approach unmanned surface vehicle running region.
Description
Technical field
The invention belongs to the unmanned probing technical fields of water surface unmanned systems, and in particular to a kind of unmanned surface vehicle underwater three
Tie up terrain detection system.
Background technique
As the demand to ocean development and marine charting is growing and the continuous development of multi-beam sonar, more waves are used
Shu Shengna carries out high-precision sea floor surreying and is increasingly becoming mankind's understanding ocean, recognizes the important means of ocean.Often at present
Boat-carrying multi-beam sonar terrain detection system is applied to someone's ships such as fishing boat, towboat more, is filled by manpower auxiliary
The folding and unfolding set, since the lack of standardization of manual operation is possible to cause to ruin to multi-beam sonar while expending a large amount of manpower
Wound, generates huge economic loss.Meanwhile existing multi-beam sonar extension and retraction system does not account for the fluid of extension and retraction system mostly
Performance will cause biggish resistance during navigation.
Publication date is on August 17th, 2016, Publication No. CN105866765A, entitled " multi-beam sonar probe
The patent application of bow mounting device and method " mainly proposes a kind of draw off gear of multi-beam sonar, which is not related to
To the installation of the relevant devices such as pod internal structure and multi-beam sonar basic matrix.
Publication date is on September 16th, 2015, Publication No. CN104908910A, entitled, and " a kind of undersea detection is set
The patent application of standby automatic retraction device ", mainly proposes a kind of draw off gear of multi-beam sonar, which does not account for
The installation of multi-beam sonar electronic compartment.Meanwhile the multi-beam sonar basic matrix of the device is fixed, Wu Fajin away from deck plane height
Row adjustment.The device is not related to the installation of the relevant devices such as pod internal structure and multi-beam sonar basic matrix equally.
In view of this, the present invention provides a kind of unmanned surface vehicle underwater three dimensional terrain detection system, be suitable for the water surface nobody
The underwater environment of ship detects, and for port construction, desilts and dredges, engages in archaeological studies and raising of a wreck provides key message；Pass through combination simultaneously
Different undersea detection technologies is realized and has complementary advantages, gives full play to unmanned operation advantage, improve the underwater of unmanned surface vehicle
Autonomous exploration ability.
Summary of the invention
It is an object of that present invention to provide a kind of underwater environment detections suitable for unmanned surface vehicle, are port construction, dredging
Dredging, archaeology and raising of a wreck provide the unmanned surface vehicle underwater three dimensional terrain detection system of key message.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of underwater three dimensional terrain detection system of unmanned surface vehicle, hull 1, GPS sensor including unmanned surface vehicle
2, inertial navigation system 5, multi-beam echo sounding electronic compartment 3, rings seat 24, multi-beam sonar basic matrix and its equipped system 4；It is described more
Wave beam sonar transducer array and its equipped system 4 are mainly cutd open including the left basic matrix 27 of multi-beam sonar, the right basic matrix 28 of multi-beam sonar, the velocity of sound
Face instrument 18, motor cabinet 6, motor module 7, upper connector 9, hanging ring 12, the support composition such as fish 16 and sonar base array rack 23；Multi-beam sound
It receives left basic matrix 27 and the right basic matrix 28 of multi-beam sonar is separately mounted to support 16 two sides of fish, the left basic matrix 27 of multi-beam sonar and multi-beam
Right 60 ° of 28 angle of basic matrix of sonar；Upper connector 9 is the hollow pipe with first flange disk 8, and multiple upper connectors 9 are by installing it
On ring flange connection composition one longer connecting tube, connecting tube one end with hold in the palm fish 16 be connected, the other end is welded with rotation
Motor module 7, the axis of rotating electric machine module 7 are connected with the motor cabinet 6 on unmanned boat by positioning pin；It is welded in connecting tube middle section
It is connected to hanging ring 12, which is attached with the rings seat 24 having been fixed on unmanned boat larboard by wirerope 29.
Described 7 one end of motor module is fixed in motor cabinet 6, and motor cabinet 6 is fixed on unmanned boat larboard deck；Motor cabinet
Distance and motor cabinet 6 mass center being equidistant to connection pipe pendant 12 of 6 mass centers to 24 mass center of rings seat.
The support fish 16 asks 16 enclosure interior of fish to be machined with shape topography using the hollow shell structure of light overpressure resistant
Sonar transducer array frame is limited, the sonar transducer array shape which is in contact with it is adapted；Shell appearance profile uses
Airflow design is used for water conservancy diversion, and there are a hole in front, rear portion, and support 16 bow of fish should be with unmanned surface vehicle bow to keeping one to installation direction
It causes.
It lays under assignment instructions, the wirerope between middle part 11 upper lift ring 12 of connecting tube and rings seat 24 should be loosened first
29, it drives multi-beam extension and retraction system to rotate counterclockwise to vertical direction to motor, fastens wirerope 29 and keep limit；Recycling is appointed
Under business instruction, multi-beam extension and retraction system is driven to be clockwise on vertical direction to motor, tightening wirerope 29 keeps limit.
The connecting tube is bolted by the several sections of hollow pipes with ring flange, by the length for changing hollow pipe
The number of degree or increase and decrease connecting tube adjusts multi-beam sonar basic matrix to the distance of unmanned boat deck plane.
16 shell of support fish uses split left and right structure, external process skirt, respectively in the support left and right skirt of 16 shell of fish
Aperture；16 top aperture of fish is held in the palm, connecting tube passes through the hole and connect with sonar transducer array frame 23；Sonar transducer array frame 23 is located in support fish 16
Portion, the left basic matrix 27 of installation multi-beam sonar, the right basic matrix 28 of multi-beam sonar and acoustics section plotter 18 on sonar transducer array frame 23；In sound
Receive 23 upper plate center of base array rack and open 4 circular holes, circular hole it is corresponding with 4 circular hole positions on 15 lower flange disk of bottom connecting tube and
With one heart；Sonar transducer array frame 23 and bottom connecting tube 15 are fixed by bolt；Left and right support 16 shell of fish wraps sonar base
Battle array frame 23 is driven through the bolt in the hole on support 16 housing skirt of fish, and support 16 shell of fish is fixed.
The 23 upper plate diagonal of sonar transducer array frame opens 2 circular holes, and the left and right basic matrix watertight cable of multi-beam sonar has
Thus 2 holes stretch out, using band by watertight cable bundled fixed in connecting tube；It oblique notches in upper plate side, angle of bevel is
90°；Angle steel is welded on skewed slot, the upper and lower section fluting of seamed edge, steel band is bypassed and wrap up acoustic profile on slot in angle steel
Acoustic profile instrument 18 is fixed in instrument 18；" M " type hole is opened near angle steel.
The inclined plate portion of the left basic matrix 27 of the carried multi-beam sonar of the sonar transducer array frame 23 and the right basic matrix 28 of multi-beam sonar
Divide and uses rectangular hollow structure；4 circular holes, 4 circles on circular hole and basic matrix mounted are opened on the inclined plate frame of the left and right sides
Hole site is identical and concentric, and the left basic matrix 27 of multi-beam sonar and the right basic matrix 28 of multi-beam sonar are fixed on by bolt by the circular hole
On the inclined plate of 23 two sides of sonar transducer array frame；Corresponding to interferometric multibeam sonar, the angle between two inclined plates is 60 °；Multi-beam sound
It receives left basic matrix 27 and the right basic matrix 28 of multi-beam sonar will stretch out support 16 shell of fish, the left basic matrix 27 of multi-beam sonar and multi-beam sonar
Right 28 surface of basic matrix will ask the housing outer surface of fish 16 tangent with place.
The beneficial effects of the present invention are:
A kind of unmanned surface vehicle underwater three dimensional terrain detection system of the present invention is suitable for carrying out using unmanned surface vehicle underwater
Terrain detection provides underwater three dimensional terrain information, for port construction, desilts and dredges, engages in archaeological studies and raising of a wreck provides important information；
It is loaded on sonar transducer array frame, is wrapped in support fish using multi-beam sonar or so basic matrix, left and right basic matrix is in 60 °, detection difference
Towards along the lower-left in foot direction, lower right；Sonar transducer array frame is fixed on motor module by connecting tube, motor module
The larboard deck of unmanned boat is fixed on by motor cabinet；Left and right sonar transducer array acquires acoustic echo data and is transmitted by watertight cable
To the multiple beam electronic cabin being fixed on unmanned boat deck, electronic compartment is by receiving unmanned surface vehicle GPS signal and inertial navigation
The information such as posture, the speed that system obtains send the underwater topography information of simultaneously compensating approach unmanned surface vehicle running region in real time,
The underwater autonomous exploration ability of unmanned surface vehicle is improved simultaneously.
Detailed description of the invention
Fig. 1 is a kind of installation diagram of unmanned surface vehicle underwater three dimensional terrain detection system of the present invention；
Fig. 2 is the structural schematic diagram of multi-beam sonar basic matrix and its equipped system of the invention；
Fig. 3 is the structural schematic diagram of bottom connecting tube of the invention, sonar transducer array frame and its equipment of carrying；
Fig. 4 is towfish structural schematic diagram of the invention；
Fig. 5 is sectional view of the present invention under vertical acquisition mode；
Fig. 6 is sectional view of the present invention under horizontal recycling state.
Specific embodiment
It illustrates with reference to the accompanying drawing and the present invention is described in more detail:
As shown in connection with fig. 1, a kind of unmanned surface vehicle underwater three dimensional terrain detection system of the present invention, including unmanned surface vehicle
Hull 1, GPS sensor 2, inertial navigation system 5, multi-beam echo sounding electronic compartment 3, rings seat 24, multi-beam sonar basic matrix and its
Equipped system 4.Wherein inertial navigation system 5 is placed at the top of the cabin of hull 1, and GPS sensor 2 is placed in the upper of inertial navigation system 5
Side, multi-beam echo sounding electronic compartment 3 are placed in the cabin of hull 1, and rings seat 24 is fixed in front of 1 larboard deck of hull, multi-beam sound
It receives basic matrix and its equipped system 4 is fixed in the middle part of 1 larboard deck of hull.
In conjunction with shown in Fig. 2-4, multi-beam sonar basic matrix and its equipped system 4 include the left basic matrix 27 of multi-beam sonar, more waves
The right basic matrix 28 of Shu Shengna, Sound speed profile instrument 18, motor cabinet 6, motor module 7, first flange disk 8, upper connector 9, second flange
Disk 10, middle part connecting tube 11, hanging ring 12, third ring flange 13, the 4th ring flange 14, bottom connecting tube 15, support fish 16, drainage hole
17, the left basic matrix 27 of wave beam sonar, sonar transducer array frame 23 form.
In conjunction with shown in Fig. 2-4, multi-beam sonar basic matrix and its equipped system 4 pass through motor cabinet 6 and are fixed on 1 larboard first of hull
In the middle part of plate, 7 one end of motor module is fixed in motor cabinet 6.9 upper end of upper connector is connected by welding and motor module 7, upper company
The lower first flange disk 8 of adapter tube 9 is bolted with the upper second flange disk 10 of middle part connecting tube 11.Under middle part connecting tube 11
The upper surface of third ring flange 13 is connected by welding with hanging ring 12, passes through spiral shell with upper 4th ring flange 14 of bottom connecting tube 15
Bolt is fixed.The present invention can multiple middle part connecting tubes 11 control the left basic matrix 27 of multi-beam sonar and multi-beam sonar is right by connecting
Distance of the basic matrix 28 away from deck plane.6 mass center of motor cabinet between 24 mass center of rings seat at a distance from should be equal to 24 mass center of motor cabinet to hanging
The distance of ring 12.
In conjunction with Fig. 3, lower 5th ring flange 22 of bottom connecting tube 15 is connect by bolt with sonar transducer array frame 23.Sonar base
The left basic matrix 27 of multi-beam sonar, right basic matrix 28,28 angle of left basic matrix 27 and right basic matrix are bolted at left and right sides of battle array frame 23
60°.Sound speed profile instrument 18 is fixed at the trivet 20 at 23 rear portion of sonar transducer array frame by rolling band.Table on sonar transducer array frame 23
Face aperture 19, its purpose is that facilitate the left basic matrix 27 of connection multi-beam sonar, right basic matrix 28 watertight cable plug and cabling.
In conjunction with Fig. 2 and Fig. 4, sonar transducer array frame 23 is wrapped in towfish 16, towfish 16 by being formed completely to two parts of journey,
By taking right side as an example, 16 right part of towfish includes the first skirt 24, the second skirt 25, third skirt 26 and inlet opening 17, left and right
Two side portions are after the bolt hole of the first skirt 24, the second skirt 25, third skirt 26 is perfectly aligned, the company of being bolted
It connects, drainage hole 17 is located at the front of towfish 16, and the right basic matrix 28 of sonar is exposed by the right side aperture of towfish 16.Hold in the palm fish 16 bow to
The bow of unmanned surface vehicle hull 1 is to consistent.
Motor control module 7, for controlling the folding and unfolding of multi-beam extension and retraction system.It lays under assignment instructions, motor control mould
Block control motor module rotates counterclockwise to be rotated multi-beam extension and retraction system gradually to vertical state by horizontality to be detected
Operation；It recycles under assignment instructions, motor control module control motor module, which rotates clockwise, makes multi-beam extension and retraction system by vertical
State is gradually rotated to horizontality.Under detect operation mode, left and right sonar transducer array acquires acoustic echo data and passes through watertight electricity
Cable is transferred to the multiple beam electronic cabin being fixed on unmanned boat deck, and electronic compartment is by receiving unmanned surface vehicle GPS signal and being used to
Property the information such as posture, speed that obtain of navigation system, send in real time and compensating approach unmanned surface vehicle running region under water
Shape information.
It in conjunction with Fig. 5 and Fig. 6, lays under assignment instructions, the lower second flange disk 13 of middle part connecting tube 11 should be loosened first and hung oneself
Wirerope 29 between ring 12 and rings seat 24, turns on vertical direction to multi-beam sonar basic matrix and its equipped system 4, is
Tight wirerope 29 keeps limit；It recycles under assignment instructions, turns to vertical direction to multi-beam sonar basic matrix and its equipped system 4
On, tightening wirerope 29 keeps limit.
Finally it should be noted that above example is only used to illustrate the technical scheme of the present invention and not to limit it.Although referring to reality
Example is applied to describe the invention in detail, those skilled in the art should understand that, to technical solution of the present invention into
Row modification or equivalent replacement should all cover without departure from the spirit and scope of technical solution of the present invention in right of the invention
In claimed range.
Claims (8)
1. a kind of unmanned surface vehicle underwater three dimensional terrain detection system, it is characterised in that: hull (1) including unmanned surface vehicle,
GPS sensor (2), inertial navigation system (5), multi-beam echo sounding electronic compartment (3), rings seat (24), multi-beam sonar basic matrix and
Its equipped system (4)；The multi-beam sonar basic matrix and its equipped system (4) mainly include the left basic matrix of multi-beam sonar (27),
The right basic matrix of multi-beam sonar (28), Sound speed profile instrument (18), motor cabinet (6), motor module (7), upper connector (9), hanging ring
(12), fish (16) and sonar base array rack (23) composition are held in the palm；The left basic matrix of multi-beam sonar (27) and the right basic matrix of multi-beam sonar (28)
It is separately mounted to support fish (16) two sides, the left basic matrix of multi-beam sonar (27) and 60 ° of angle of the right basic matrix of multi-beam sonar (28)；Upper company
Taking over (9) is the hollow pipe with first flange disk (8), and multiple upper connectors (9) pass through the ring flange connection composition being installed on it
One longer connecting tube, connecting tube one end are connected with support fish (16), and the other end is welded with rotating electric machine module (7), rotation
The axis of motor module (7) is connected with the motor cabinet (6) on unmanned boat by positioning pin；Hanging ring is welded in connecting tube middle section
(12), which is attached with the rings seat (24) having been fixed on unmanned boat larboard by wirerope (29).
2. a kind of unmanned surface vehicle underwater three dimensional terrain detection system according to claim 1, it is characterised in that: motor mould
Block (7) one end is fixed in motor cabinet (6), and motor cabinet (6) is fixed on unmanned boat larboard deck；Motor cabinet (6) mass center is to hanging
The distance of ring seat (24) mass center being equidistant to connection pipe pendant (12) with motor cabinet (6) mass center.
3. a kind of unmanned surface vehicle underwater three dimensional terrain detection system according to claim 1, it is characterised in that: support fish
(16) the hollow shell structure of light overpressure resistant is used, support fish (16) enclosure interior is machined with shape topography to sonar transducer array frame
It is limited, the sonar transducer array shape which is in contact with it is adapted；Shell appearance profile is set using streamlined
Meter is used for water conservancy diversion, and there are a hole in front, rear portion, and support fish (16) bow should be with unmanned surface vehicle bow to being consistent to installation direction.
4. a kind of unmanned surface vehicle underwater three dimensional terrain detection system according to claim 1, it is characterised in that: cloth is let alone
Under business instruction, the wirerope (29) between middle part connecting tube (11) upper lift ring (12) and rings seat (24) should be loosened first, to electricity
Machine drives multi-beam extension and retraction system to rotate counterclockwise to vertical direction, fastens wirerope (29) and keeps limit；Recycling task refers to
Under order, multi-beam extension and retraction system is driven to be clockwise on vertical direction to motor, tightening wirerope (29) keeps limit.
5. a kind of unmanned surface vehicle underwater three dimensional terrain detection system according to claim 1, it is characterised in that: connecting tube
It is bolted by the several sections of hollow pipes with ring flange, by changing the length of hollow pipe or increasing and decreasing the number of connecting tube
Mesh adjusts multi-beam sonar basic matrix to the distance of unmanned boat deck plane.
6. a kind of unmanned surface vehicle underwater three dimensional terrain detection system according to claim 1 or 3, it is characterised in that: support
Fish (16) shell uses split left and right structure, external process skirt, respectively in the support left and right skirt aperture of fish (16) shell；Hold in the palm fish
(16) top aperture, connecting tube pass through the hole and connect with sonar transducer array frame (23)；Sonar transducer array frame (23) is located in support fish (16)
Portion installs the left basic matrix of multi-beam sonar (27), the right basic matrix of multi-beam sonar (28) and velocity of sound section plotter on sonar transducer array frame (23)
(18)；4 circular holes are opened at sonar transducer array frame (23) upper plate center, 4 on circular hole and bottom connecting tube (15) lower flange disk
Circular hole position is corresponding and concentric；Sonar transducer array frame (23) and bottom connecting tube (15) are fixed by bolt；Left and right support fish
(16) shell wraps sonar transducer array frame (23), is driven through the bolt in the hole on support fish (16) housing skirt, will hold in the palm fish (16)
Shell is fixed.
7. a kind of unmanned surface vehicle underwater three dimensional terrain detection system according to claim 1, it is characterised in that: the sound
Base array rack (23) upper plate diagonal of receiving opens 2 circular holes, and the left and right basic matrix watertight cable of multi-beam sonar thus stretch out by 2 holes, benefit
With band by watertight cable bundled fixed in connecting tube；It oblique notches in upper plate side, angle of bevel is 90 °；It is welded on skewed slot
Angle steel is connect, the upper and lower section fluting of seamed edge, steel band is bypassed and wraps up Sound speed profile instrument (18), on slot to the velocity of sound in angle steel
Section plotter (18) is fixed；" M " type hole is opened near angle steel.
8. a kind of unmanned surface vehicle underwater three dimensional terrain detection system according to claim 1 or claim 7, it is characterised in that: institute
The swash plate part for stating the left basic matrix of sonar transducer array frame (23) carried multi-beam sonar (27) and the right basic matrix of multi-beam sonar (28) is adopted
Use rectangular hollow structure；4 circular holes, 4 circular hole positions on circular hole and basic matrix mounted are opened on the inclined plate frame of the left and right sides
Set identical and concentric, the left basic matrix of multi-beam sonar (27) and the right basic matrix of multi-beam sonar (28) are fixed on by the circular hole by bolt
On the inclined plate of sonar transducer array frame (23) two sides；Angle between two inclined plates is 60 °；The left basic matrix of multi-beam sonar (27) and multi-beam
The right basic matrix of sonar (28) will stretch out support fish (16) shell, the left basic matrix of multi-beam sonar (27) and the right basic matrix of multi-beam sonar (28) table
Face will ask the housing outer surface of fish (16) tangent with place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710722303.8A CN107554694B (en) | 2017-08-22 | 2017-08-22 | A kind of unmanned surface vehicle underwater three dimensional terrain detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710722303.8A CN107554694B (en) | 2017-08-22 | 2017-08-22 | A kind of unmanned surface vehicle underwater three dimensional terrain detection system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107554694A CN107554694A (en) | 2018-01-09 |
| CN107554694B true CN107554694B (en) | 2019-05-21 |
Family
ID=60976632
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710722303.8A Active CN107554694B (en) | 2017-08-22 | 2017-08-22 | A kind of unmanned surface vehicle underwater three dimensional terrain detection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107554694B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109298709A (en) * | 2018-12-25 | 2019-02-01 | 哈尔滨工程大学 | A kind of unmanned surface vehicle detection and tracking for shallow water pipeline |
| CN110208812A (en) * | 2019-05-21 | 2019-09-06 | 哈尔滨工程大学 | Unmanned vehicles seabed dimensional topography detection device and method partly latent |
| CN110901840B (en) * | 2019-12-03 | 2021-06-01 | 哈尔滨工程大学 | Offshore exploration platform |
| EP3912899B1 (en) | 2020-05-19 | 2023-04-05 | Universidade de Évora | Device for supporting a seabed measurement underwater system |
| CN112591009B (en) * | 2020-12-22 | 2022-04-19 | 航天时代(青岛)海洋装备科技发展有限公司 | Unmanned ship underwater equipment support system capable of automatically lifting |
| CN113552572A (en) * | 2021-06-07 | 2021-10-26 | 中国电子科技集团公司电子科学研究院 | Fixing device of three-dimensional imaging sonar system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105388481A (en) * | 2015-10-16 | 2016-03-09 | 哈尔滨工程大学 | Dipping small-object detecting sonar system and detecting method thereof |
| US9346414B1 (en) * | 2014-03-04 | 2016-05-24 | Steven Randy Kuhens | GPS/sonar display mounting assembly |
| CN105759257A (en) * | 2016-04-01 | 2016-07-13 | 中国船舶重工集团公司第七〇五研究所 | Deep sea side scan sonar array and manufacturing method |
| CN106627998A (en) * | 2017-01-06 | 2017-05-10 | 浙江嘉蓝海洋电子有限公司 | Telescopic mounting mechanism for ship bottom three-dimensional sonar |
| CN106842209A (en) * | 2017-01-24 | 2017-06-13 | 哈尔滨工程大学 | A kind of multirobot cooperates with underwater terrain matching navigation system and method |
-
2017
- 2017-08-22 CN CN201710722303.8A patent/CN107554694B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9346414B1 (en) * | 2014-03-04 | 2016-05-24 | Steven Randy Kuhens | GPS/sonar display mounting assembly |
| CN105388481A (en) * | 2015-10-16 | 2016-03-09 | 哈尔滨工程大学 | Dipping small-object detecting sonar system and detecting method thereof |
| CN105759257A (en) * | 2016-04-01 | 2016-07-13 | 中国船舶重工集团公司第七〇五研究所 | Deep sea side scan sonar array and manufacturing method |
| CN106627998A (en) * | 2017-01-06 | 2017-05-10 | 浙江嘉蓝海洋电子有限公司 | Telescopic mounting mechanism for ship bottom three-dimensional sonar |
| CN106842209A (en) * | 2017-01-24 | 2017-06-13 | 哈尔滨工程大学 | A kind of multirobot cooperates with underwater terrain matching navigation system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107554694A (en) | 2018-01-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107554694B (en) | A kind of unmanned surface vehicle underwater three dimensional terrain detection system | |
| CN103112550B (en) | A kind of Abysmal sea communication relay buoy | |
| US20190317237A1 (en) | Apparatus for performing offshore underwater surveys | |
| CN102358413A (en) | Installation method of full-revolving rudder propeller device with special angle | |
| KR101704663B1 (en) | Device for hydrographic survey | |
| US20170350978A1 (en) | Deep water sonar imagining by multibeam echosounder | |
| CN110764055A (en) | Virtual plane array underwater moving target radiation noise vector measurement system and measurement method | |
| KR20100008652A (en) | A manless vessel system using catamaram | |
| CN112937779A (en) | Large-scale ocean-going sea-way survey vessel | |
| CN206057595U (en) | A kind of underwater line survey meter based on underwater robot | |
| CN111521972A (en) | Wave glider-based depth-fixed marine acoustic information acquisition system | |
| CN110304207A (en) | Special measurement ship for submarine pipeline and cable inspection upkeep operation | |
| JPH10123247A (en) | Real-time underwater execution control method | |
| CN111271513B (en) | Visualized positioning and guiding method for submarine cable management | |
| US20020067662A1 (en) | Apparatus and method for the mounting, deployment and use of hydrographic surveying devices | |
| CN111504253A (en) | Underwater three-dimensional acoustic three-dimensional array determination method for wave glider | |
| CN107140161A (en) | A kind of binary AUV loading device equipped systems based on detection target under water | |
| Wang et al. | Application study of a new underwater glider with single vector hydrophone for target direction finding | |
| CN206900620U (en) | A kind of binary AUV loading device equipped systems based on underwater detection target | |
| CN110794412A (en) | Portable buried pipe cable route detection system | |
| CN215205276U (en) | Large-scale ocean-going sea-way survey vessel | |
| CN114018224A (en) | System and method for checking chart water depth data | |
| CN211336351U (en) | Positioning sinking and floating type ocean detection device | |
| CN108238225B (en) | Semi-submersible unmanned ship | |
| KR101665877B1 (en) | Underwater sensor fixing apparatus for ship |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |