CN207473088U - A kind of device for being detected in muddy water to submerged structure - Google Patents
A kind of device for being detected in muddy water to submerged structure Download PDFInfo
- Publication number
- CN207473088U CN207473088U CN201721644584.1U CN201721644584U CN207473088U CN 207473088 U CN207473088 U CN 207473088U CN 201721644584 U CN201721644584 U CN 201721644584U CN 207473088 U CN207473088 U CN 207473088U
- Authority
- CN
- China
- Prior art keywords
- holder
- detected
- muddy water
- frame
- submerged structure
- 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
Landscapes
- Geophysics And Detection Of Objects (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The utility model discloses a kind of device 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 energy converter；Electronic compartment and holder are fixed respectively with carrying frame, and side scan sonar energy converter is fixed on holder, and is passed through cable and be electrically connected with electronic compartment.Carry the rectangular frame that frame is made of one piece of rectangular base plate and eight straight-bars.It carries frame and is fixed on remotely pilotless submersible bottom.It carries and is 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.It is fixed at the top of holder that there are one side scan sonar energy converters.Device provided by the utility model for being detected in muddy water to submerged structure can clearly detect the structure under muddy water state, avoid the deficiency of side scan sonar detection.
Description
Technical field
The utility model is related to a kind of underwater detection devices, and in particular, to one kind is used in muddy water to submerged structure
The device being detected.
Background technology
Underwater robot is remotely pilotless submersible (Remote Operational Vehicle, ROV), 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 point 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, 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.
Utility model content
The purpose of this utility model is to provide a kind of underwater detection device, and carrying high-precision side by scalability ROV sweeps
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 utility model provides a kind of for being detected to submerged structure in muddy water
Device, comprising remotely pilotless submersible, wherein, the device is also comprising carrying frame, electronic compartment, holder and side scan sonar
Energy converter；The electronic compartment and holder are fixed respectively with carrying frame, and the side scan sonar energy converter is fixed on holder,
The side scan sonar energy converter 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 on 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, top is fixed
There are one side scan sonar energy converters.Side scan sonar be by side emit sound wave come find out water body, sea, seabed include top
The instrument and equipment of stratum acoustic construction and medium character is mainly made of towed body, host, cable, recorder etc., and towed body generally has
There are two energy converter and hydrophones.Preferably, using KLLEIN3500 side scan sonars, energy converter is removed, energy converter is carried out
The energy converter of dismounting is mounted on high-precision holder ROS (that is, underwater holder of ROS companies of U.S. production), under water by repacking
Robot (ROV) carries holder to submerged structure near zone to be measured, and works is carried out using side scan sonar to sweep survey, adjusts side
Sonar angle is swept, adjusts the setting of side scan sonar energy converter, it is only necessary to using an energy converter, side be made to sweep energy converter face and be detected
Works finely detects works.
It is provided by the utility model to be used to has the following advantages the device that submerged structure is detected in muddy water：
The utility model uses water-bound detection operation under muddy water, can clearly detect under muddy water state
Structure, precision are up to 3mm.Side scan sonar is mainly using towing mode at present, and detection operation limitation is big, to labyrinth quality testing
Survey difficulty is big, and the utility model avoids the deficiency of side scan sonar detection, while provides the specific equipment of underwater muddy water detection.
Description of the drawings
Fig. 1 is side scan sonar routine occupation mode schematic diagram.
Fig. 2 is the utility model for the structure diagram of device that is detected in muddy water to submerged structure.
Wherein：1st, frame is carried；2nd, electronic compartment；3rd, holder；4th, side scan sonar energy converter；5th, bottom plate；6th, straight-bar.
Specific embodiment
Specific embodiment of the present utility model is further described below in conjunction with attached drawing.
As shown in Fig. 2, the device provided by the utility model for being detected in muddy water to submerged structure, comprising distant
Unmanned submersible is controlled, also comprising carrying frame 1, electronic compartment 2, holder 3 and side scan sonar energy converter 4；Electronic compartment 2 and holder 3
It is fixed respectively with carrying frame 1, side scan sonar energy converter 4 is fixed on holder 3, and side scan sonar energy converter 4 passes through cable and electricity
Sub- cabin 2 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.It carries and is 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 °.
3 top of holder is fixed, and there are one side scan sonar energy converters 4.
Side scan sonar be by side emit sound wave come find out water body, sea, seabed include upper formation acoustic construction
It with the instrument and equipment of medium character, is mainly made of towed body, host, cable, recorder etc., there are two energy converters for towed body generally tool
And hydrophone.Preferably, using KLLEIN3500 side scan sonars, energy converter is removed, energy converter is reequiped, by dismounting
Energy converter is mounted on high-precision holder ROS (that is, underwater holder of ROS companies of U.S. 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 energy converter 4 is adjusted to set, it is only necessary to using an energy converter, side is made to sweep energy converter face and is detected works, it is right
Works is finely detected.
It provided by the utility model is used in muddy water tie the device that submerged structure is detected under water using
When structure detects, high-precision ROS holders are carried by ROV first, side scan sonar energy converter 4 is fixed on holder 3, ROV is carried
USBL Underwater Navigation equipment, ROV carries out Underwater Navigation, ROV movements adjustment and detected works using USBL during detection operation
Distance, while adjust 3 equipment of holder and make 4 face works of side scan sonar energy converter, works is detected.Side scan sonar
Detection data be transmitted to display and control terminal on the bank by ROV umbilical cables.
With reference to embodiment to the device provided by the utility model for being detected in muddy water to submerged structure
It is further described.
Embodiment 1
A kind of device for being detected in muddy water to submerged structure comprising remotely pilotless submersible, is also included and is taken
Carry frame 1, electronic compartment 2, holder 3 and side scan sonar energy converter 4；Electronic compartment 2 and holder 3 are fixed respectively with carrying frame 1, side
It sweeps sonar transducer 4 to be fixed on holder 3, side scan sonar energy converter 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.It carries and is 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 °.
3 top of holder is fixed, and there are one side scan sonar energy converters 4.
Device provided by the utility model for being detected in muddy water to submerged structure is needing to be tied under water
When structure detects, the energy converter inside side scan sonar is removed first, the energy converter after dismounting is mounted on high-precision holder 3,
And the data processing for sweeping side scan sonar and side is integrated in inside electronic compartment 2；Each component is fixed on again and carries frame 1
It is interior, frame 1 will be carried during use and is fixed on ROV bottoms, 2 cable of electronic compartment is connect with ROV ontologies；ROV flights are to again during operation
The area to be tested of miscellaneous structure is adjusted side scan sonar angle using high-precision holder 3, is swept using side and work is detected to works
Industry can be clearly detected the structural form of labyrinth object area.It completes traditional side and sweeps the Detection task that can not be completed.
Device provided by the utility model for being detected in muddy water to submerged structure utilizes side scan sonar transducing
Device 4 is mounted on high-precision holder 3, while carries holder 3 by ROV, and fixed point multi-orientation detection operation is carried out to works, can
In the form of clearly reflecting works, accuracy of detection is high.
Although the content of the utility model is discussed in detail by above preferred embodiment, but it should be appreciated that on
The description stated is not considered as the limitation to the utility model.After those skilled in the art have read the above, for
A variety of modifications and substitutions of the utility model all will be apparent.Therefore, the scope of protection of the utility model should be by appended
Claim limit.
Claims (8)
1. a kind of device for being detected in muddy water to submerged structure includes remotely pilotless submersible, which is characterized in that
The device is also comprising carrying frame, electronic compartment, holder and side scan sonar energy converter；
The electronic compartment and holder are fixed respectively with carrying frame, and the side scan sonar energy converter is fixed on holder, institute
The side scan sonar energy converter stated is electrically connected by cable with electronic compartment.
2. the device as described in claim 1 for being detected in muddy water to submerged structure, which is characterized 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 detected in muddy water to submerged structure, which is characterized in that described
It carries frame and is fixed on remotely pilotless submersible bottom.
4. the device as claimed in claim 3 for being detected in muddy water to submerged structure, which is characterized in that described
Frame is carried, electronic compartment and holder are fixed on the bottom plate in its frame.
5. the device as claimed in claim 4 for being detected in muddy water to submerged structure, which is characterized 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 detected in muddy water to submerged structure, which is characterized in that described
Holder is high-precision electronic holder.
7. the device as claimed in claim 6 for being detected in muddy water to submerged structure, which is characterized 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 detected in muddy water to submerged structure, which is characterized in that described
Holder, top is fixed, and there are one side scan sonar energy converters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721644584.1U CN207473088U (en) | 2017-11-30 | 2017-11-30 | A kind of device for being detected in muddy water to submerged structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721644584.1U CN207473088U (en) | 2017-11-30 | 2017-11-30 | A kind of device for being detected in muddy water to submerged structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207473088U true CN207473088U (en) | 2018-06-08 |
Family
ID=62257489
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721644584.1U Active CN207473088U (en) | 2017-11-30 | 2017-11-30 | A kind of device for being detected in muddy water to submerged structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207473088U (en) |
-
2017
- 2017-11-30 CN CN201721644584.1U patent/CN207473088U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3432037B1 (en) | System for detecting hydrates near seafloor | |
| CN108008397A (en) | For the device and its detection method being detected in muddy water to submerged structure | |
| CN106405662A (en) | Underwater pipeline detector based on underwater robot | |
| CN102495420A (en) | Underwater object precision positioning system and method | |
| RU2009122380A (en) | SEISMOCOSA TRACKING THE SEA BOTTOM | |
| CN113534260B (en) | Broadband near-seafloor deep sea geological structure acoustic detection system and method | |
| CN105629307B (en) | A kind of submerged pipeline detection and measurement sound system and method | |
| CN106908520B (en) | High-low frequency seabed substrate parameter measuring instrument and seabed substrate parameter measuring method | |
| CN206057595U (en) | A kind of underwater line survey meter based on underwater robot | |
| CN110824483A (en) | Modular multi-beam imaging sonar | |
| CN109765619B (en) | Marine seismic exploration system and method based on mobile platform carrying | |
| CN111780852B (en) | Device and method for measuring deep sea performance of low-frequency transducer in real time | |
| CN110749926A (en) | Marine geology exploration parameter measurement device based on acoustics principle | |
| CN108196086B (en) | Measuring device for measuring surface flow velocity of water body by using probe of inverted Doppler current meter and using method of measuring device | |
| CN110261932A (en) | A kind of polar region AUV acousto-optic detection system | |
| CN207473088U (en) | A kind of device for being detected in muddy water to submerged structure | |
| CN104569991A (en) | Sonar detection device for three-dimensional space of mine gob | |
| CN218037344U (en) | Seabed high-precision imaging system suitable for underwater mobile platform | |
| CN114370868B (en) | Unmanned ship formation deep towing operation system and method | |
| CN107064294B (en) | Data acquisition device of submarine sediment in-situ acoustic measurement system | |
| Kozaczka et al. | Images of the Seabed of the Gulf of Gdańsk Obtained by Means of the Parametric Sonar | |
| CN110794412A (en) | Portable buried pipe cable route detection system | |
| CN111256810B (en) | High-precision vector hydrophone | |
| CN111650593A (en) | Submarine cable laying state probing system for offshore wind farm and working method of submarine cable laying state probing system | |
| CN117572430B (en) | Mining plume redeposition thickness area detection device and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |