CN108008397A - For the device and its detection method being detected in muddy water to submerged structure - Google Patents
For the device and its detection method being detected in muddy water to submerged structure Download PDFInfo
- Publication number
- CN108008397A CN108008397A CN201711240000.9A CN201711240000A CN108008397A CN 108008397 A CN108008397 A CN 108008397A CN 201711240000 A CN201711240000 A CN 201711240000A CN 108008397 A CN108008397 A CN 108008397A
- Authority
- CN
- China
- Prior art keywords
- holder
- detected
- scan sonar
- muddy water
- side scan
- 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.)
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
- G01S15/8902—Side-looking sonar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/521—Constructional features
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Abstract
The invention discloses a kind of device and its detection method for being detected in muddy water to submerged structure, which includes remotely pilotless submersible, also comprising carrying frame, electronic compartment, holder and side scan sonar transducer；Electronic compartment and holder are fixed with carrying frame respectively, and side scan sonar transducer is fixed on holder, and is electrically connected by cable with electronic compartment.Carry the rectangular frame that frame is made of one piece of rectangular base plate and eight straight-bars.Carry frame and be fixed on remotely pilotless submersible bottom.Carry and be fixed with electronic compartment and holder on the bottom plate in frame.Electronic compartment is electrically connected by cable with remotely pilotless submersible, and remotely pilotless submersible is equipped with ultra short baseline locating system.Holder is high-precision electronic holder.The invention also discloses the method being detected in muddy water to submerged structure.The present invention can clearly detect the structure under muddy water state, avoid the deficiency of side scan sonar detection.
Description
Technical field
The present invention relates to a kind of underwater detection device and its detection method, and in particular, to it is right in muddy water that one kind is used for
The device and its detection method that submerged structure is detected.
Background technology
Underwater robot, or remotely pilotless submersible (Remote Operational Vehicle, ROV) is, it is a kind of
The instrument and equipment carried using itself carries out artificially manipulating under water the diving apparatus of operation.
Low there is operating efficiency using ROV detections under muddy water state at present, video can not see detected configuration state clearly,
After producing cloud data using detections such as three-dimensional sonars, precision is relatively low, the problems such as can not clearly reflecting the state of structure.
On the other hand, submerged structure is detected by side scan sonar, its conventional occupation mode be generally towfish formula or
Person is fixed on bottom of ship mode and uses, shown in Figure 1.When this kind of occupation mode is primarily present to submerged structure analyte detection without
Method detects the problem of works blocks the specific situation at position, and limitation is too big.
The content of the invention
The object of the present invention is to provide a kind of underwater detection device and its detection method, carried by scalability ROV high
Precision side scan sonar probe detects muddy water submerged structure the defects of carrying out fine manipulation, solving the prior art.
In order to achieve the above object, the present invention provides a kind of dress for being detected in muddy water to submerged structure
Put, comprising remotely pilotless submersible, wherein, the device is also changed comprising carrying frame, electronic compartment, holder and side scan sonar
Can device；The electronic compartment and holder are fixed with carrying frame respectively, and the side scan sonar transducer is fixed on holder, institute
The side scan sonar transducer stated is electrically connected by cable with electronic compartment.
The above-mentioned device for being detected in muddy water to submerged structure, wherein, the carrying frame is by one
The rectangular frame of block rectangular base plate and eight straight-bar compositions.
The above-mentioned device for being detected in muddy water to submerged structure, wherein, the carrying frame is fixed on
Remotely pilotless submersible bottom.
The above-mentioned device for being detected in muddy water to submerged structure, wherein, the carrying frame, in its frame
Electronic compartment and holder are fixed with bottom plate in frame.
The above-mentioned device for being detected in muddy water to submerged structure, wherein, the electronic compartment passes through cable
It is electrically connected with remotely pilotless submersible, the remotely pilotless submersible is equipped with ultra short baseline locating system (ultra short
Baseline locating system, USBL).The aobvious control that the remotely pilotless submersible is set by umbilical cables and on the bank
Terminal connects.
The above-mentioned device for being detected in muddy water to submerged structure, wherein, the holder is high precision electro
Sub- holder.
The above-mentioned device for being detected in muddy water to submerged structure, wherein, the holder resolution ratio is
0.01 °, positioning accuracy is 0.05 °.
The above-mentioned device for being detected in muddy water to submerged structure, wherein, the holder, its top is fixed
There is a side scan sonar transducer.
Present invention also offers the method being detected by above-mentioned device in muddy water to submerged structure, wherein, institute
The method stated is：The side scan sonar transducer inside side scan sonar is removed first, then by a side scan sonar after dismounting
Transducer is installed on high-precision electronic holder, and side scan sonar transducer is connected with electronic compartment, the data processing for sweeping side
It is collected into inside electronic compartment, then side scan sonar transducer and high-precision electronic holder and electronic compartment is fixed on cuboid
On the bottom plate carried in frame of shape, frame will be carried and be fixed on remotely pilotless submersible bottom, electronic compartment by cable with it is distant
Unmanned submersible's connection is controlled, remotely pilotless submersible flies to submerged structure region to be detected in operation, uses height
Precision electronic holder adjusts the angle of side scan sonar transducer, is swept using side and operation is detected to works, detection data warp
Cross electronic compartment and remotely pilotless submersible is transmitted in the display and control terminal set on the bank.
The above-mentioned method being detected in muddy water to submerged structure, wherein, in the method, remotely pilotless diving
Device carries ultra short baseline locating system, and remotely pilotless submersible is carried out fixed under water using ultra short baseline locating system during detection operation
Position, remotely pilotless submersible are moved, and adjust the distance with detected works, while high-precision electronic holder passes through adjusting
Make side scan sonar transducer face works, works is detected.
Side scan sonar be by launching sound wave to side to find out water body, sea, seabed include upper formation acoustic construction
With the instrument and equipment of medium character, mainly it is made of towed body, host, cable, recorder etc., towed body generally has two transducers
And hydrophone.Preferably, using KLLEIN3500 side scan sonars, transducer is removed, transducer is reequiped, by dismounting
Transducer is installed on high-precision holder ROS (that is, the underwater holder of U.S. ROS companies production), and underwater robot (ROV) is taken
Band holder carries out works using side scan sonar to sweep survey, adjusts side scan sonar angle, adjust to submerged structure near zone to be measured
Save side scan sonar transducer to set, it is only necessary to using a transducer, make side sweep transducer face and be detected works, to structure
Thing is finely detected.
Have provided by the present invention for the device and its detection method being detected in muddy water to submerged structure following
Advantage：
The present invention uses water-bound detection operation under muddy water, can clearly detect the knot under muddy water state
Structure, precision are up to 3mm.Side scan sonar mainly uses towing mode at present, and detection operation limitation is big, to labyrinth analyte detection
Difficulty is big, the invention avoids the deficiency of side scan sonar detection, while provides the specific method of underwater muddy water detection.
Brief description of the drawings
Fig. 1 is side scan sonar routine occupation mode schematic diagram.
Fig. 2 is the present invention for the structure diagram for the device being detected in muddy water to submerged structure.
Wherein：1st, frame is carried；2nd, electronic compartment；3rd, holder；4th, side scan sonar transducer；5th, bottom plate；6th, straight-bar.
Embodiment
The embodiment of the present invention is further described below in conjunction with attached drawing.
As shown in Fig. 2, provided by the present invention for the device being detected in muddy water to submerged structure, remote control nothing is included
People's submersible, also comprising carrying frame 1, electronic compartment 2, holder 3 and side scan sonar transducer 4；Electronic compartment 2 and holder 3 are distinguished
Fixed with carrying frame 1, side scan sonar transducer 4 is fixed on holder 3, and side scan sonar transducer 4 passes through cable and electronic compartment 2
It is electrically connected.
Carry the rectangular frame that frame 1 is made of one piece of rectangular base plate 5 and eight straight-bars 6.It is solid to carry frame 1
It is scheduled on remotely pilotless submersible bottom.Carry and be fixed with electronic compartment 2 and holder 3 on the bottom plate 5 in frame 1.
Electronic compartment 2 is electrically connected by cable with remotely pilotless submersible, and remotely pilotless submersible is positioned equipped with ultra-short baseline
System (ultra short baseline locating system, USBL).Remotely pilotless submersible is by umbilical cables with setting
Put display and control terminal connection on the coast.
Holder 3 is high-precision electronic holder.3 resolution ratio of holder is 0.01 °, and positioning accuracy is 0.05 °.
The top of holder 3 is fixed with a side scan sonar transducer 4.
Present invention also offers the method being detected by the device in muddy water to submerged structure, this method is：It is first
First the side scan sonar transducer 4 inside side scan sonar is removed, is then installed on a side scan sonar transducer 4 after dismounting
On high-precision electronic holder 3, and side scan sonar transducer 4 is connected with electronic compartment 2, the data processing that side is swept is collected into electronics
Inside cabin 2, then side scan sonar transducer 4 and high-precision electronic holder 3 and electronic compartment 2 be fixed on taking for cuboid
Carry on the bottom plate 5 in frame 1, frame 1 will be carried and be fixed on remotely pilotless submersible bottom, electronic compartment 2 passes through cable and remote control
Unmanned submersible connects, and in operation, the flight of remotely pilotless submersible is high-precision to submerged structure region to be detected, use
The angle that electronic platform 3 adjusts side scan sonar transducer 4 is spent, is swept using side and operation is detected to works, detection data warp
Cross electronic compartment 2 and remotely pilotless submersible is transmitted in the display and control terminal set on the bank.Remotely pilotless submersible carries ultrashort base
Line alignment system, remotely pilotless submersible carries out Underwater Navigation, remotely pilotless using ultra short baseline locating system during detection operation
Submersible is moved, and adjusts the distance with detected works, while high-precision electronic holder 3 makes side scan sonar by adjusting
4 face works of transducer, is detected works.
With reference to embodiment to the device provided by the present invention for being detected in muddy water to submerged structure and its
Detection method is further described.
Embodiment 1
A kind of device for being detected in muddy water to submerged structure, comprising remotely pilotless submersible, also includes and takes
Carry frame 1, electronic compartment 2, holder 3 and side scan sonar transducer 4；Electronic compartment 2 and holder 3 are fixed with carrying frame 1 respectively, side
Sweep sonar transducer 4 to be fixed on holder 3, side scan sonar transducer 4 is electrically connected by cable with electronic compartment 2.
Carry the rectangular frame that frame 1 is made of one piece of rectangular base plate 5 and eight straight-bars 6.It is solid to carry frame 1
It is scheduled on remotely pilotless submersible bottom.Carry and be fixed with electronic compartment 2 and holder 3 on the bottom plate 5 in frame 1.
Electronic compartment 2 is electrically connected by cable with remotely pilotless submersible, and remotely pilotless submersible is positioned equipped with ultra-short baseline
System (ultra short baseline locating system, USBL).Remotely pilotless submersible is by umbilical cables with setting
Put display and control terminal connection on the coast.
Holder 3 is high-precision electronic holder.3 resolution ratio of holder is 0.01 °, and positioning accuracy is 0.05 °.
The top of holder 3 is fixed with a side scan sonar transducer 4.
The present embodiment additionally provides the method being detected by the device in muddy water to submerged structure, and this method is：
The side scan sonar transducer 4 inside side scan sonar is removed first, then a side scan sonar transducer 4 after dismounting is installed
It is connected on high-precision electronic holder 3, and by side scan sonar transducer 4 with electronic compartment 2, the data processing that side is swept is collected into electricity
Inside sub- cabin 2, then side scan sonar transducer 4 and high-precision electronic holder 3 and electronic compartment 2 be fixed on cuboid
Carry on the bottom plate 5 in frame 1, frame 1 will be carried and be fixed on remotely pilotless submersible bottom, electronic compartment 2 by cable with it is distant
Unmanned submersible's connection is controlled, remotely pilotless submersible flies to submerged structure region to be detected in operation, uses height
Precision electronic holder 3 adjusts the angle of side scan sonar transducer 4, is swept using side and operation is detected to works, detects data
It is transmitted to by electronic compartment 2 and remotely pilotless submersible in the display and control terminal set on the bank.Remotely pilotless submersible carries ultrashort
Baseline alignment system, remotely pilotless submersible carries out Underwater Navigation using ultra short baseline locating system during detection operation, is remotely controlled nothing
People's submersible is moved, and adjusts the distance with detected works, while high-precision electronic holder 3 makes side sweep sound by adjusting
4 face works of transducer, is detected works, can be clearly detected the structural form of labyrinth object area,
Complete traditional side and sweep the Detection task that can not be completed.
Side scan sonar be by launching sound wave to side to find out water body, sea, seabed include upper formation acoustic construction
With the instrument and equipment of medium character, mainly it is made of towed body, host, cable, recorder etc., towed body generally has two transducers
And hydrophone.Preferably, using KLLEIN3500 side scan sonars, transducer is removed, transducer is reequiped, by dismounting
Transducer is installed on high-precision holder ROS (that is, the underwater holder of U.S. ROS companies production), and underwater robot (ROV) is taken
With holder 3 to submerged structure near zone to be measured, works is carried out using side scan sonar to sweep survey, adjusts side scan sonar angle,
Side scan sonar transducer 4 is adjusted to set, it is only necessary to using a transducer, side is swept transducer face and be detected works, it is right
Works is finely detected.
Submerged structure inspection is being carried out using the device provided by the present invention for being detected in muddy water to submerged structure
During survey, high accuracy ROS holders are carried by ROV first, side scan sonar transducer 4 is fixed on holder 3, ROV carries USBL
Underwater Navigation equipment, ROV carries out Underwater Navigation using USBL during detection operation, ROV movements adjustment and detected works away from
From, while adjust 3 equipment of holder and make 4 face works of side scan sonar transducer, works is detected.The inspection of side scan sonar
Survey data and be transmitted to display and control terminal on the bank by ROV umbilical cables.
Provided by the present invention for the device and its detection method being detected in muddy water to submerged structure, swept using side
Sonar transducer 4 is installed on high-precision holder 3, while carries holder 3 by ROV, and fixed point multi-angle inspection is carried out to works
Operation is surveyed, can clearly reflect the form of works, accuracy of detection is high.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (10)
1. a kind of device for being detected in muddy water to submerged structure, includes remotely pilotless submersible, it is characterised in that
The device is also comprising carrying frame, electronic compartment, holder and side scan sonar transducer；
The electronic compartment and holder are fixed with carrying frame respectively, and the side scan sonar transducer is fixed on holder, institute
The side scan sonar transducer stated is electrically connected by cable with electronic compartment.
2. the device as claimed in claim 1 for being used to be detected submerged structure in muddy water, it is characterised in that described
Carry the rectangular frame that frame is made of one piece of rectangular base plate and eight straight-bars.
3. the device as claimed in claim 2 for being used to be detected submerged structure in muddy water, it is characterised in that described
Carry frame and be fixed on remotely pilotless submersible bottom.
4. the device as claimed in claim 3 for being used to be detected submerged structure in muddy water, it is characterised in that described
Frame is carried, electronic compartment and holder are fixed with the bottom plate in its frame.
5. the device as claimed in claim 4 for being used to be detected submerged structure in muddy water, it is characterised in that described
Electronic compartment is electrically connected by cable with remotely pilotless submersible, and the remotely pilotless submersible is equipped with ultra-short baseline positioning system
System.
6. the device as claimed in claim 4 for being used to be detected submerged structure in muddy water, it is characterised in that described
Holder is high-precision electronic holder.
7. the device as claimed in claim 6 for being used to be detected submerged structure in muddy water, it is characterised in that described
Holder resolution ratio is 0.01 °, and positioning accuracy is 0.05 °.
8. the device as claimed in claim 7 for being used to be detected submerged structure in muddy water, it is characterised in that described
Holder, its top are fixed with a side scan sonar transducer.
9. a kind of device by as described in any one in claim 1~8 is detected submerged structure in muddy water
Method, it is characterised in that the method is：The side scan sonar transducer inside side scan sonar is removed first, then will be torn open
A side scan sonar transducer after removing is installed on high-precision electronic holder, and side scan sonar transducer and electronic compartment are connected
Connect, the data processing that side is swept is collected into inside electronic compartment, then by side scan sonar transducer and high-precision electronic holder and electricity
Sub- cabin is fixed on the bottom plate carried in frame of cuboid, will be carried frame and is fixed on remotely pilotless submersible bottom
Portion, electronic compartment are connected by cable with remotely pilotless submersible, and in operation, remotely pilotless submersible flies to water to be detected
Lower structure region, using high-precision electronic holder adjust side scan sonar transducer angle, using side sweep to works into
Row detection operation, detection data are transmitted in the display and control terminal set on the bank by electronic compartment and remotely pilotless submersible.
10. the method being detected as claimed in claim 9 in muddy water to submerged structure, it is characterised in that the side
In method, remotely pilotless submersible carries ultra short baseline locating system, and remotely pilotless submersible uses ultra-short baseline during detection operation
Alignment system carries out Underwater Navigation, and remotely pilotless submersible is moved, and adjusts the distance with detected works, while high-precision
Degree electronic platform makes side scan sonar transducer face works by adjusting, and works is detected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711240000.9A CN108008397A (en) | 2017-11-30 | 2017-11-30 | For the device and its detection method being detected in muddy water to submerged structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711240000.9A CN108008397A (en) | 2017-11-30 | 2017-11-30 | For the device and its detection method being detected in muddy water to submerged structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108008397A true CN108008397A (en) | 2018-05-08 |
Family
ID=62055457
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711240000.9A Withdrawn CN108008397A (en) | 2017-11-30 | 2017-11-30 | For the device and its detection method being detected in muddy water to submerged structure |
Country Status (1)
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| CN (1) | CN108008397A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108614269A (en) * | 2018-07-11 | 2018-10-02 | 武汉长江航道救助打捞局 | A kind of underwater positioning system and its working method based on image sonar |
| CN109188445A (en) * | 2018-10-15 | 2019-01-11 | 河海大学 | A kind of underwater special detection device of caisson seam |
| CN109459755A (en) * | 2018-12-16 | 2019-03-12 | 中交广州航道局有限公司 | A kind of multi-functional towed body raft assistance platform dragging operation based on side scan sonar tail |
| CN110703197A (en) * | 2019-11-08 | 2020-01-17 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Lateral measurement type inverted ultrashort baseline transmitting-receiving transducer and working mode thereof |
| CN113156367A (en) * | 2021-03-09 | 2021-07-23 | 自然资源部第二海洋研究所 | Portable automatic winding and unwinding operation device for ultra-short base line |
| CN114265436A (en) * | 2021-11-29 | 2022-04-01 | 海鹰企业集团有限责任公司 | Portable side-scan sonar transducer angle electric adjusting device |
-
2017
- 2017-11-30 CN CN201711240000.9A patent/CN108008397A/en not_active Withdrawn
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108614269A (en) * | 2018-07-11 | 2018-10-02 | 武汉长江航道救助打捞局 | A kind of underwater positioning system and its working method based on image sonar |
| CN108614269B (en) * | 2018-07-11 | 2023-07-11 | 武汉长江航道救助打捞局 | Working method of underwater positioning system based on image sonar |
| CN109188445A (en) * | 2018-10-15 | 2019-01-11 | 河海大学 | A kind of underwater special detection device of caisson seam |
| CN109459755A (en) * | 2018-12-16 | 2019-03-12 | 中交广州航道局有限公司 | A kind of multi-functional towed body raft assistance platform dragging operation based on side scan sonar tail |
| CN109459755B (en) * | 2018-12-16 | 2024-03-15 | 中交广州航道局有限公司 | Multifunctional towed body raft auxiliary platform based on side-scan sonar tail towing operation |
| CN110703197A (en) * | 2019-11-08 | 2020-01-17 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Lateral measurement type inverted ultrashort baseline transmitting-receiving transducer and working mode thereof |
| CN113156367A (en) * | 2021-03-09 | 2021-07-23 | 自然资源部第二海洋研究所 | Portable automatic winding and unwinding operation device for ultra-short base line |
| CN113156367B (en) * | 2021-03-09 | 2024-02-27 | 自然资源部第二海洋研究所 | Portable ultrashort baseline automatic retraction operation device |
| CN114265436A (en) * | 2021-11-29 | 2022-04-01 | 海鹰企业集团有限责任公司 | Portable side-scan sonar transducer angle electric adjusting device |
| CN114265436B (en) * | 2021-11-29 | 2023-10-17 | 海鹰企业集团有限责任公司 | Portable side-scan sonar transducer angle electric adjusting device |
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