CN202815220U - Ship bottom target identification system - Google Patents
Ship bottom target identification system Download PDFInfo
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- CN202815220U CN202815220U CN 201220496771 CN201220496771U CN202815220U CN 202815220 U CN202815220 U CN 202815220U CN 201220496771 CN201220496771 CN 201220496771 CN 201220496771 U CN201220496771 U CN 201220496771U CN 202815220 U CN202815220 U CN 202815220U
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Abstract
The utility model discloses a ship bottom target identification system. The system comprises a three-dimensional sonar, a underwater camera cradle head, an attitude measurement and positioning module, a control module, a underwater robot and an identification ship. According to the system, a method in which the three-dimensional sonar is combined with the underwater robot is adopted, when the underwater robot is arranged, the three-dimensional sonar is used to guide the underwater robot to a position near the suspicious target and control the underwater robot to submerge to the depth at which the suspicious target is located, and short-distance optical imaging identification and confirmation are performed on the suspicious target through a underwater camera. Meanwhile, in the system of the utility model, the three-dimensional sonar is installed on the identification ship through the cradle head, the position of the sonar can be changed with the movement of the sonar identification ship, so the monitoring area of the system is expanded, so that detection can be performed on a suspicious ship on the sea, but are not limited to performing detection at positions, such as ports, dams, ship locks, etc., and at the same time, the sonar can be rotated under the action of the cradle head, so the detection area of the sonar is expanded, and the detection can be performed completely on the bottom of the suspicious ship.
Description
Technical field
The present invention relates to a kind of bottom of ship target identification system.
Background technology
Along with the variation of international strategic situation, hostile conflict mode is also at development.The generation of " 9.11 event " has thoroughly changed traditional attack of terrorism mode, and diversification, concealed characteristics are increasingly outstanding.Maritime affairs safety has become an important component part of International Terrorism action, and rivers dam, harbour etc. are the important water conservancy of China and military installations, and the dealing boats and ships are numerous, and its protection is more seemed important.At present, though such zone has perfect land and water surface safety inspection measure, there is a serious shortage in the supply for the safety check means of the following part of the boats and ships water surface.After the terrorist controls ship for civil use, in case being placed on bottom of ship, the underwater blast thing (is attached to hull bottom or towing alow) under water, just may be smoothly by existing land safety inspection, such facility is started the attack of terrorism, cause economic loss, cause political fallout and society panic, hit common people's mental line of defense, serious even may cause social unrest.
A kind of device that uses the multi-beam image sonar bottom of ship to be carried out safety detection is disclosed in notification number is the patent " underwater safety detection device on ship bottom " of CN202107082U.Sonar is fixed on the water-bed floating platform in this device, floating platform can not move, only the degree of depth is adjustable, the signal transmitting terminal of sonar is towards the water surface, only when boats and ships pass through above the sonar, sonar can carry out three-dimensional imaging to bottom of ship, with the monitoring bottom of ship without adhering to or the suspicious object of traction.But this device can only to access to the ports, the bottom of ship at the position such as dam, ship lock carries out safety inspection, form simultaneously the acoustic picture of hull bottom target by multi-beam sonar, only can judge whether to have or not suspicious object, and can not do further accurately identification and affirmation to suspicious object.
Summary of the invention
In view of this, the invention provides a kind of bottom of ship target identification system, the mode that this system applies three-dimensional sonar and underwater robot combine is carried out safety inspection to bottom of ship, can do further identification and affirmation to the suspicious object that has detected.
This system comprises three-dimensional sonar, underwater holder, attitude measurement and locating module, control module, underwater robot and identification ship; Wherein control module is positioned at the pulpit of identification ship, and control module comprises sonar main frame, main control system and aobvious control unit.
Its annexation is: three-dimensional sonar is fixed on the underwater holder, underwater holder by expansion link be installed in identification ship the outer side of a ship under water; Three-dimensional sonar links to each other with the sonar main frame, and the sonar main frame receives the signal of three-dimensional sonar; Underwater holder links to each other with main control system, and main control system control underwater holder rotates.Attitude measurement and locating module are fixed on identification ship ship top, and attitude measurement links to each other with the sonar main frame with locating module; Described attitude measurement and locating module are measured attitude information and the positional information of identification ship, and wherein positional information is used for providing the absolute coordinates position of identification ship self, and attitude information is used for compensation and shakes rolling to the impact of three-dimensional sonar detection accuracy because of the identification shipping; Underwater robot links to each other with the aobvious control unit of identification on the ship, and underwater robot carries out in-plant optical imagery with video camera to the hull bottom of being examined boats and ships.
The built-in angular transducer of described three-dimensional sonar, compensation and correction underwater holder rotate the sonar image target offset that causes.
Beneficial effect
(1) the present invention adopts the mode that three-dimensional sonar and underwater robot combine, after laying underwater robot, three-dimensional sonar is directed to underwater robot near the suspicious object, the dive of control underwater robot is carried out closely optical imagery identification and affirmation by Underwater Camera to suspicious object to suspicious object place depth.
(2) in native system, three-dimensional sonar is installed on the identification ship by The Cloud Terrace, the position of sonar can be moved with the identification ship, enlarge the monitored area of system, thereby can detect suspicious boat on the sea, and be not limited to the positions such as harbour, dam, ship lock; Sonar can rotate in the drive of The Cloud Terrace simultaneously, has enlarged the search coverage of sonar, and assurance is thorough to the suspicious boat bottomside sounding.
Description of drawings
Fig. 1 is three-dimensional sonar of the present invention and underwater robot associated working synoptic diagram.
1-three-dimensional sonar wherein, the 2-underwater holder, 3-attitude measurement and locating module, the 4-underwater robot, the 5-cable, 6-identifies ship, the 7-expansion link, 8-is examined boats and ships
Embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail.
Present embodiment provides a kind of bottom of ship target identification system, carried out scanning probe by three-dimensional sonar to examining bottom of ship first during operation, lay underwater robot after the locking suspicious object, under the guiding of three-dimensional sonar, the suspicious object of being examined the boats and ships hull bottom is made closely optical imagery.
This bottom of ship target identification system comprises three-dimensional sonar 1, underwater holder 2, attitude measurement and locating module 3, underwater robot 4 and control module, and these equipment are all take identification ship 6 as carrier.
Its annexation is: control module is positioned at the pulpit of identification ship 6, comprises sonar main frame, main control system and aobvious control unit.Three-dimensional sonar 1 is fixedly mounted on the underwater holder 2, and underwater holder 2 is installed in the identification ship 6 outer sides of a ship under water by expansion link 7, and its degree of depth can be regulated by expansion link 7.Three-dimensional sonar 1 is connected with the sonar main frame of identification on the ship 6 by cable, the signal of sonar main frame reception three-dimensional sonar 1; Underwater holder 2 is connected with the main control system of identification on the ship 6 by cable, and the rotation of main control system control underwater holder 2 is rotated (along level and vertical direction) thereby make underwater holder 2 drive three-dimensional sonars, 1 pair of scanning of being examined boats and ships 8 bottoms of realization three-dimensional sonar.Attitude measurement and locating module 3 are fixedly mounted on identification ship 6 ships top, link to each other with the sonar main frame; Underwater robot 4 is linked the aobvious control unit of identifying on the ship by cable 5, and underwater robot 4 is placed on when not working on the ship side of identification ship 6.Underwater robot 4 self is with video camera, underwater robot 4 under the guiding of three-dimensional sonar 1 to after being examined boats and ships 8 hull bottom targets and being carried out closely optical imagery, the image of taking is sent to aobvious control unit, and aobvious control unit also can show the attitude of underwater robot 4 simultaneously.
Attitude measurement and locating module 3 are used for measuring attitude (roll, pitching and course) information and the positional information of identification ship 6, wherein attitude information is used for compensation and rocks impact on three-dimensional sonar 1 detection accuracy because of 6 motions of identification ship, and positional information is used for providing the absolute coordinates position (longitude and latitude) of identification ship 6 self.Attitude measurement and locating module 3 just can be determined the absolute coordinates position of three-dimensional sonar 1 after the position offset of compensation three-dimensional sonar 1 mounting points and attitude measurement and positioning system 3 mounting points.Simultaneously three-dimensional sonar 1 built-in angular transducer can compensate and revise underwater holder 2 and rotate the sonar image target offset that causes, guarantees the real-time of the suspicious object absolute position that scans.And after system enters three-dimensional sonar and underwater robot associated working state, underwater robot 4 enters three-dimensional sonar search coverage 7, utilize the target measurement function of three-dimensional sonar 1, the position of underwater robot 4 relative three-dimensional sonars 1 can be determined (comprising target depth and coordinate position), convert through system coordinates, just can determine the absolute coordinates position of underwater robot 4, thereby control underwater robot 4 moves.
Bottom of ship target identifying and method are as follows:
(1) examined boats and ships 8 in the appointed area riding at anchor, identification ship 6 is set out, and three-dimensional sonar 1 and underwater holder 2 cloth are put into certain depth under water, and this degree of depth is determined according to the draft of being examined boats and ships 8, guarantees that sonar can scan the whole hull bottom of being examined boats and ships 8.
(2) identification ship 6 is slowly mobile around being examined boats and ships 8, rotating the adjustment angle by underwater holder 2 control three-dimensional sonars 1 is simultaneously scanned examining boats and ships 8 bottoms, and with scanning information send to the sonar main frame, the sonar main frame carries out the demonstration of sonar image, is used for judging whether hull bottom has the position of suspicious object, suspicious object (longitude and latitude) and the degree of depth.If have in the sonar image unusually, then tentatively thinking has suspicious object, enters step (3); Otherwise thinking does not have suspicious object, process ends.
(3) underwater robot cloth is placed in the water, by aobvious control unit controls underwater robot first from surface navigation to examined boats and ships 8 near, and then dive is to the suspicious object place degree of depth.Underwater robot carries out the low coverage optical imagery by the video camera of himself to the hull bottom suspicious object, and image is sent to aobvious control unit in real time, and operating personnel further identify suspicious object by image and confirm.
Because underwater robot 4 position and direction in water is uncertain, brought larger difficulty when it is subject to affecting of current and water quality, can under water robot 4 fast searching hull bottom targets, therefore, need to guide underwater robot 4 to identify quickly and efficiently suspicious object with three-dimensional sonar 1.
If underwater robot 4 does not find suspicious object by step (3) after entering in the water, think tentatively that then underwater robot 4 underwater searches are subject to the impact of the factors such as current and water quality, then enter three-dimensional sonar and underwater robot associated working state.
Figure 1 shows that three-dimensional sonar and underwater robot associated working synoptic diagram, 4 navigation of aobvious control unit controls underwater robot are to three-dimensional sonar search coverage 7, this moment, underwater robot 4 and suspicious object all were presented in the sonar image of three-dimensional sonar 1, aobvious control unit controls underwater robot 4 moves near the suspicious object, by Underwater Camera suspicious object is carried out closely optical imagery, and image sent to aobvious control unit in real time, operating personnel further identify suspicious object by image and confirm.When confirming that suspicious object is doubtful blast or dangerous material, namely notify relevant departments to process.
Native system also has the function that three-dimensional sonar image and underwater robot optical imagery is passed to littoral charge center by wireless mode.
Adopt this system to check identification to the fleet's hull bottom suspicious object that forms with two ships or many ships binding form, can expand to simultaneously customs anti-smuggling field, can the suspicious bottom of ship of Sensitive sea area be checked, prevent the illegal traction smuggled goods of hull bottom or prohibited items.
In sum, more than be preferred embodiment of the present invention only, be not for limiting protection scope of the present invention.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (2)
1. a bottom of ship target identification system is characterized in that, this system comprises three-dimensional sonar (1), underwater holder (2), attitude measurement and locating module (3), control module, underwater robot (4) and identification ship (6); Wherein control module is positioned at the pulpit of identification ship (6), and control module comprises sonar main frame, main control system and aobvious control unit;
Its annexation is: three-dimensional sonar (1) is fixed on the underwater holder (2), underwater holder (2) by expansion link (7) be installed in identification ship (6) the outer side of a ship under water; Three-dimensional sonar (1) links to each other with the sonar main frame, and the sonar main frame receives the signal of three-dimensional sonar (1); Underwater holder (2) links to each other with main control system, and main control system control underwater holder (2) rotates; Attitude measurement and locating module (3) are fixed on identification ship (6) ship top, and attitude measurement links to each other with the sonar main frame with locating module (3); Described attitude measurement and locating module (3) are measured attitude information and the positional information of identification ship (6), wherein positional information is used for providing the absolute coordinates position of identification ship (6) self, and attitude information is used for compensation and rocks impact on three-dimensional sonar (2) detection accuracy because of identification ship (6) motion; Underwater robot (4) links to each other with aobvious control unit in identification ship (6), and underwater robot (4) carries out in-plant optical imagery with video camera to the hull bottom of being examined boats and ships (8).
2. a kind of bottom of ship target identification system as claimed in claim 1 is characterized in that, the built-in angular transducer of described three-dimensional sonar (1), and compensation and correction underwater holder (2) rotate the sonar image target offset that causes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220496771 CN202815220U (en) | 2012-09-26 | 2012-09-26 | Ship bottom target identification system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220496771 CN202815220U (en) | 2012-09-26 | 2012-09-26 | Ship bottom target identification system |
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| Publication Number | Publication Date |
|---|---|
| CN202815220U true CN202815220U (en) | 2013-03-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220496771 Expired - Fee Related CN202815220U (en) | 2012-09-26 | 2012-09-26 | Ship bottom target identification system |
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| Country | Link |
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| CN (1) | CN202815220U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017140096A1 (en) * | 2016-02-18 | 2017-08-24 | 北京臻迪科技股份有限公司 | Unmanned ship and system |
| US10661867B2 (en) | 2016-02-18 | 2020-05-26 | Powervision Tech Inc. | Underwater drone with capacity of fishing, rapidly moving and wireless remote control |
-
2012
- 2012-09-26 CN CN 201220496771 patent/CN202815220U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017140096A1 (en) * | 2016-02-18 | 2017-08-24 | 北京臻迪科技股份有限公司 | Unmanned ship and system |
| US10661867B2 (en) | 2016-02-18 | 2020-05-26 | Powervision Tech Inc. | Underwater drone with capacity of fishing, rapidly moving and wireless remote control |
| US11008081B2 (en) | 2016-02-18 | 2021-05-18 | Powervision Tech Inc. | Underwater drone with capacity of fishing, rapidly moving and wireless remote control |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: CHINA THREE GORGES CORPORATION Effective date: 20140604 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| C53 | Correction of patent for invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Chen Mengjun Inventor after: Qin Yajun Inventor after: Qi Zhanfeng Inventor after: Sun Zhifeng Inventor after: Cao Guangrong Inventor after: Cao Zhong Inventor after: Yue Xiaolei Inventor after: Xiang Bo Inventor after: Wu Wei Inventor after: Ren Hongwei Inventor after: Zhao Zhuo Inventor before: Chen Mengjun Inventor before: Yue Xiaolei Inventor before: Ren Hongwei Inventor before: Fu Junzhao Inventor before: Zhao Zhuo Inventor before: Liu Shufeng Inventor before: Qin Yajun Inventor before: Qi Zhanfeng |
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| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: CHEN MENGJUN YUE XIAOLEI REN HONGWEI FU JUNZHAO ZHAO ZHUO LIU SHUFENG QIN YAJUN QI ZHANFENG TO: CHEN MENGJUN SUN ZHIFENG CAO GUANGRONG CAO ZHONG YUE XIAOLEI XIANG BO WU WEI REN HONGWEI ZHAO ZHUO QIN YAJUN QI ZHANFENG |
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| TR01 | Transfer of patent right |
Effective date of registration: 20140604 Address after: 443003 Shengli Road, Hubei, Yichang, No. three, No. 58 Patentee after: China Shipbuilding Industry Group Corporation No.710 Research Institute Patentee after: China Three Gorges Corporation Address before: 443003 Shengli Road, Hubei, Yichang, No. three, No. 58 Patentee before: China Shipbuilding Industry Group Corporation No.710 Research Institute |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130320 Termination date: 20180926 |