CN210072087U - Underwater electromagnetic detector capable of distinguishing directions - Google Patents
Underwater electromagnetic detector capable of distinguishing directions Download PDFInfo
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- CN210072087U CN210072087U CN201920748762.8U CN201920748762U CN210072087U CN 210072087 U CN210072087 U CN 210072087U CN 201920748762 U CN201920748762 U CN 201920748762U CN 210072087 U CN210072087 U CN 210072087U
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Abstract
An underwater electromagnetic detector capable of distinguishing directions comprises a positioning short-baseline sonar connected with a processing and result display; positioning the short-baseline sonar through a towing rope, a cable and a V-shaped towing rod fixing rod; the V-shaped towing rod fixing rod is connected with two V-shaped towing rods; the two V-shaped towing rods are respectively connected with a first rigid connecting rod and a second rigid connecting rod which have the same structure through a rope and a signal cable; the front end of the rigid connecting rod II is provided with an electromagnetic radiator A, and the rear end of the rigid connecting rod II is provided with an electromagnetic detector A; the front end of the rigid connecting rod II is connected with a front adjusting chain rope; the rear end of the rigid connecting rod is also connected with a rear adjusting chain rope; the front adjusting chain rope and the rear adjusting chain rope are both provided with buoyancy adjusting chains; through time-sharing detection, the data processor analyzes and compares the amplitude values output by the electromagnetic detector A and the electromagnetic detector B, judges the direction of the target and estimates the distance of the target.
Description
Technical Field
The utility model belongs to the technical field of underwater and bury metal target detection under water, concretely relates to electromagnetic detector under water of distinguishable position for underwater and bury magnetism and non-magnetic metal target's detection under water, be applicable to the surface of water ship and pull the detection and carry on under water the ROV and survey.
Background
The underwater sunken metal target detection relates to the application in a plurality of fields of military and civilian, such as the routing inspection detection of underwater sunken oil and gas pipelines, the underwater material evidence search of metal targets or the detection of dangerous objects. Most of the underwater metal detectors in the market are magnetic gradient detectors, the principle of the detectors is that magnetic targets can generate an agitating influence on the spatial distribution of magnetic lines of force on the earth, the magnetic gradient detection is used for detecting the magnetic metal targets, and the detectors cannot be used for detecting non-magnetic targets. The number of active electromagnetic detectors is small, an imported TSS440 electromagnetic detector is commonly used, the active electromagnetic detector can be used for ROV carrying detection, the structure is complex, the price is high, and the popularization and the application are difficult. The utility model discloses to above demand and difficulty, provided an electromagnetic detector implementation scheme under water in distinguishable position, simple structure, reliable, convenient to use can a plurality of combinations be used in parallel, is applicable to ROV and carries on and surface of water ship tows the detection.
Disclosure of Invention
For overcoming the not enough of above-mentioned prior art, the utility model aims at providing a distinguishable position electromagnetic detector under water for submarine magnetism and non-magnetic metal target are surveyed, make things convenient for surface of water ship to tow to survey and ROV carries on the use, have simple structure, but the characteristics of multiunit combination use.
In order to achieve the above object, the utility model adopts the following technical scheme: an underwater electromagnetic detector capable of distinguishing directions comprises a positioning short-baseline sonar connected with a processing and result display; positioning the short-baseline sonar through a towing rope, a cable and a V-shaped towing rod fixing rod; the V-shaped towing rod fixing rod is connected with two V-shaped towing rods; the two V-shaped towing rods are respectively connected with a first rigid connecting rod and a second rigid connecting rod which have the same structure through a rope and a signal cable; the front end of the rigid connecting rod II is provided with an electromagnetic radiator A, and the rear end of the rigid connecting rod II is provided with an electromagnetic detector A; the front end of the rigid connecting rod II is connected with a front adjusting chain rope; the rear end of the rigid connecting rod II is also connected with a rear adjusting chain rope; the front adjusting chain rope and the rear adjusting chain rope are both provided with buoyancy adjusting chains.
And a first floating ball and a second floating ball are respectively arranged at two ends of the rigid connecting rod II.
The rope and the signal cable are wound on a towing cable pulley at the rear end of the water surface tug.
And a floating ball III and a positioning sound beacon are arranged at the upper end of the V-shaped towing rod fixing rod.
And a floating body material is arranged in the rigid connecting rod II.
The length of the second rigid connecting rod is 2-5 m.
The front end of the rigid connecting rod is provided with an electromagnetic radiator B, and the rear end of the rigid connecting rod is provided with an electromagnetic detector B; the electromagnetic radiator B is the same as the electromagnetic radiator A, and the electromagnetic detector B is the same as the electromagnetic detector A; the first rigid connecting rod and the second rigid connecting rod have the same structure.
The electromagnetic detector A and the electromagnetic detector B are three-axis or two-axis sensors.
The electromagnetic radiator A and the electromagnetic radiator B are connected with the signal generator through the power amplifier; the signal generator is connected with the data acquisition and data processor; the input end of the data acquisition and data processor is connected with the signal amplification filter, and the output end of the data acquisition and data processor is connected with the display and memory; the signal amplification filter is connected with the electromagnetic detector A and the electromagnetic detector B.
The number of the first rigid connecting rods can be set according to requirements.
The utility model has the advantages that:
the utility model discloses can survey submarine magnetic metal and non-magnetic metal target, can change operating frequency and differentiate metal target attribute characteristic. The detector has simple and reliable structure, can be combined to enlarge the detection area, is convenient for ROV carrying, and can be used for dragging and detecting underwater metal targets by a surface ship.
Because the utility model discloses an electromagnetic radiator A and electromagnetic detector A, electromagnetic radiator B and electromagnetic detector B's small, make things convenient for the electromagnetic balance adjustment, will improve electromagnetic detector's detectivity promptly, and its volume can not be big again, when the limited amplitude output of X axle, makes the output of Y axle and Z axle as far as possible little. The electromagnetic detector is small in size, a space electromagnetic distribution field of the electromagnetic detector is favorably an axisymmetric distribution field, and the detection sensitivity of the electromagnetic detector is favorably improved.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2(a) is a schematic diagram of the spatial distribution of magnetic lines of magnetic force of the electromagnetic radiator of the magnetic core coil.
Fig. 2(b) is a schematic diagram of the direction and distribution of magnetic lines from N pole to S pole of the magnetic dipole.
FIG. 3 is a schematic diagram of an underwater electromagnetic probe capable of distinguishing directions.
In the figure: the system comprises 1-an electromagnetic radiator A, 2-an electromagnetic radiator B, 3-an electromagnetic detector A, 4-an electromagnetic detector B, 5-a rigid connecting rod I, 6-a rigid connecting rod II, 7-floating body materials, 8-a floating ball I, 9-a floating ball, 10-a front adjusting chain rope, 11-a rear adjusting chain rope, 12-a buoyancy adjusting chain, 13-a rope and a signal cable, 14-a V-shaped towing rod, 15-a V-shaped towing rod fixing structure, 16-a floating ball III, 17-a towing rope and a cable, 18-a positioning acoustic beacon, 19-a positioning short-base-line sonar, 20-a towing cable pulley, and 21-a processing and result display.
Detailed Description
The structure and operation of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, 2(a) - (b) and 3, the underwater electromagnetic detector capable of distinguishing the direction comprises a positioning short-base sonar 19 connected with a processing and result display 21; the positioning short-baseline sonar 19 is connected with the V-shaped towing rod fixing rod 15 through a towing rope and a cable 17; the V-shaped towing bar fixing rod 15 is connected with two V-shaped towing bars 14; the two V-shaped towing rods 14 are respectively connected with a rigid connecting rod I5 and a rigid connecting rod II 6 which have the same structure through a rope and a signal cable 13; the front end of the rigid connecting rod II 6 is provided with an electromagnetic radiator A1, and the rear end is provided with an electromagnetic detector A3; the front end of the rigid connecting rod II 6 is connected with a front adjusting chain rope 10; the rear end of the rigid connecting rod II 6 is also connected with a rear adjusting chain rope 11; the front adjusting chain rope 10 and the rear adjusting chain rope 11 are both provided with buoyancy adjusting chains 12.
Two ends of the rigid connecting rod II 6 are respectively provided with a floating ball I8 and a floating ball II 9. The rope and signal cable 13 is wound around a towing cable pulley 20 at the rear end of the surface tug. The upper end of the V-shaped towing rod fixing rod 15 is provided with a floating ball III 16 and a positioning sound beacon 18. A floating body material 7 is arranged in the rigid connecting rod II 6. The length of the rigid connecting rod II 6 is 2 m-5 m.
The front end of the first rigid connecting rod 5 is provided with an electromagnetic radiator B2, and the rear end is provided with an electromagnetic detector B4; electromagnetic radiator B2 is the same as electromagnetic radiator a1, and electromagnetic detector B4 is the same as electromagnetic detector A3; the first rigid connecting rod 5 and the second rigid connecting rod 6 have the same structure.
The electromagnetic detector A3 and the electromagnetic detector B4 are three-axis or two-axis sensors.
The electromagnetic radiator A and the electromagnetic radiator B are connected with the signal generator through the power amplifier; the signal generator is connected with the data acquisition and data processor; the input end of the data acquisition and data processor is connected with the signal amplification filter, and the output end of the data acquisition and data processor is connected with the display and memory; the signal amplification filter is connected with the electromagnetic detector A and the electromagnetic detector B.
The electromagnetic radiator A1 and the electromagnetic detector A3 are connected with each other, and the electromagnetic radiator B2 and the electromagnetic detector B4 are connected with each other through different rigid connecting rods respectively, wherein the electromagnetic detector A1 and the electromagnetic radiator B2 are arranged in front of the rigid connecting rods, and the electromagnetic detector A3 and the electromagnetic detector A4 are arranged behind the rigid connecting rods. The height of the rigid connecting rod from the seabed is adjusted through the weight of the plurality of rings of the non-magnetic high polymer material buoyancy adjusting chains 12 on the front adjusting chain rope 10 and the rear adjusting chain rope 11 during dragging. The length of the rigid connecting rod II 6 for connecting and fixing the electromagnetic radiator A1 and the electromagnetic detector A3 and the electromagnetic radiator B2 and the electromagnetic detector B4 is 2 m-5 m.
Referring to fig. 1 to 2(a) to (b), the X axis of the electromagnetic detector A3 should be coaxial with the core coil electromagnetic radiator a1, and the relative positional relationship (i.e. electromagnetic balance adjustment) of the space is adjusted to make the Y axis and Z axis outputs of the electromagnetic detector A3 as small as possible, such as 1/20 to 1/30 of full scale, when the full scale is 10V, the Y axis and Z axis can be about 300mV, and under the above condition, the strength of the electromagnetic radiator a1 is controlled to be large enough to make the X axis generate amplitude limit (the output of the X axis is not used for analysis). The structural relationship between the electromagnetic radiator B2 and the electromagnetic detector B4 refers to the connection between the electromagnetic detector A3 and the electromagnetic radiator A1.
The utility model discloses a theory of operation introduces: as shown in fig. 2(a) to (b), the electromagnetic detector is placed in the spatial field by utilizing the spatial distribution characteristics of axial symmetry of the radiation field of the coil electromagnetic radiator, and the Y axis and the Z axis of the electromagnetic detector are perpendicular to the electromagnetic wave distribution field by making the X axis of the electromagnetic detector coaxial with the electromagnetic radiator, thereby minimizing the output value. When a metal target appears in the space distribution field of the electromagnetic radiator, the space distribution of the magnetic force lines is influenced, so that the Y axis and the Z axis of the electromagnetic detector generate output changes, the existence of the metal target is confirmed through amplitude change, and the position of the target are estimated according to the amplitude change. The two groups of electromagnetic radiators and the electromagnetic detector work alternately in a time-sharing mode, so that the position of the target can be judged, the towing ship or the underwater ROV can be guided to sail, and the loss of the range is reduced. Meanwhile, the high-frequency CW pulse electromagnetic wave detection signals of a plurality of frequency points are utilized to detect the metal target and judge the magnetic and non-magnetic metal characteristics of the target. The magnetic core coil electromagnetic radiator has the spatial distribution characteristic of a magnetic dipole field, the spatial distribution of magnetic lines of force has the axial symmetry characteristic, the magnetic lines of force come out from the N pole end and enter from the S pole end, and the central axis, namely the X axis, has stronger strength and the intensity is the minimum on the Y, Z axis at the position far away from the magnetic dipole, and if a metal object appears in the space, the output of the Y, Z axis can be changed.
In fig. 1, the electromagnetic radiator a1 and the electromagnetic detector A3 are respectively embedded inside the ends of the rigid connecting rods two and fixed by a curing adhesive, so that the relative positions of the two are not changed in use.
The interiors of the first rigid connecting rod 5 and the second rigid connecting rod 6 are filled with floating body materials, so that the weight in water is reduced, and the deformation of the rigid connecting rods in use is reduced. The interval between the two rigid connecting rods is about 1 m-1.5 m, and the height of the rigid connecting rods from the seabed is adjusted to be 0.5m (the height is reduced to be 0.4m when the rigid connecting rods are dragged) through the weights of the nonmagnetic polymer material adjusting chains 12 on the front adjusting chain rope (10) and the rear adjusting chain rope 11. The rigid connecting rods that hold the electromagnetic radiator a1 and electromagnetic detector A3 and the electromagnetic radiator B2 and electromagnetic detector B4 are 2m long (they may be larger, e.g., 4m, when towed for use). The rigid connecting rod is made of nonmetal high polymer materials, adopts a square tube structure and can also be a round tube.
When the detector works, the electromagnetic radiator A1 and the electromagnetic detector A3 are rigidly fixed and cannot generate relative position change in use; similarly, the electromagnetic radiator B2 and the electromagnetic detector B4 must be rigidly fixed and not subject to relative positional changes during use. The electromagnetic radiator A1 and the electromagnetic detector A3 work in a time-sharing mode with the electromagnetic radiator B2 and the electromagnetic detector B4, the amplitude values output by the electromagnetic detector A3 and the electromagnetic detector B4 are analyzed and compared by a data processor through time-sharing detection, the direction of the target is judged, and the distance of the target is estimated.
The electromagnetic radiator A1 and the electromagnetic detector A3, the electromagnetic radiator B2 and the electromagnetic detector B4 are fixed on the rigid connecting rod, space electromagnetic balance adjustment is required to be carried out between the electromagnetic radiator and the electromagnetic detector, and the electromagnetic balance adjustment needs to be carried out in an environment with good electromagnetic environment, such as no magnetic metal object in the surrounding 50m range, no non-magnetic metal object in the surrounding 20m range and no power transmission and distribution line in the 200m range. Electromagnetic balance adjustment is performed underwater when necessary.
The electromagnetic detector can be a three-axis or two-axis electromagnetic detector, and the electromagnetic balance adjustment requires that the electromagnetic radiator is coaxial with the X-axis of the electromagnetic detector, so that the X-axis of the electromagnetic detector has a larger output, and the output amplitude is minimum in the Y-axis and Z-axis directions (in practical cases, the relative position should be adjusted, so that the output of the Y-axis and Z-axis is minimized and the requirement is met).
The processing of non-metal polymer material for the rigid link, square pipe or the pipe of processing like the epoxy material, electromagnetic radiator and electromagnetic detector embedding rigid link are inside fixed, and fixed mode can be vulcanized rubber, epoxy glue etc. guarantees that electromagnetic radiator and electromagnetic detector can not produce relative position and rock and change in surveying the use.
When the electromagnetic radiator and the electromagnetic detector are used for electromagnetic balance adjustment (adjustment of spatial relative positions), the X axis of the electromagnetic detector is coaxial with the electromagnetic radiator, the output in the Y axis direction and the Z axis direction of the electromagnetic detector is as small as possible, such as 1/20-1/30 of a full scale, when the full scale is 10V, the Y axis direction and the Z axis direction can be about 300mV, and under the condition that the intensity of the electromagnetic radiator is controlled to be large enough to enable the X axis to generate amplitude limiting (the output of the X axis is not used for analysis), the electromagnetic detector is ensured to have a large enough detection range.
The working frequency ranges of the electromagnetic radiator A1, the electromagnetic radiator B2 and the electromagnetic detector are generally within 200 Hz-1500 Hz, the signal is a CW signal, the signal width is about 200ms, and different working frequencies are used, so that the magnetic and non-magnetic characteristics of the metal target and the like can be identified. The signal is output by a power amplifier to drive an LC resonant circuit, which may be a series resonant circuit or a parallel resonant circuit. The working frequency can be changed for the detection target, such as 200Hz, 500Hz, 1000Hz and 1500Hz, and in order to save the circuit power consumption, a CW signal is preferably used, and the signal width is about 300ms (150 ms-350 ms).
When the detector is used for towing detection of a water surface ship, in order to expand the detection range, a spatial combination mode of a plurality of electromagnetic radiators and electromagnetic detectors can be adopted, and the interval between the electromagnetic detectors and the electromagnetic radiators can be properly increased, such as 5m, so that the detection area of the detector is expanded.
The utility model discloses a distinguishable position's electromagnetic detector implementation scheme under water can adapt to magnetism and non-magnetic metal's the sunken end target detection under water, and the detector simple structure, reliable, light in weight conveniently installs ROV under water to can adapt to the surface of water ship through the compound mode and drag the mode detection, enlarge the detection range. The utility model discloses an electromagnetic detector is applicable to ROV and carries on the detection, and the timesharing work between electromagnetic radiator A1 and electromagnetic detector A3, electromagnetic radiator B2 and the electromagnetic detector B4 is surveyed through the timesharing, and the amplitude size of analysis electromagnetic detector A3 and electromagnetic detector B4 output through comparative analysis, judges the position of target to estimate the distance of target.
The relative position adjustment between the electromagnetic radiator A1 and the electromagnetic detector A3 and between the electromagnetic radiator B2 and the electromagnetic detector B4 is carried out in an environment with good electromagnetic environment, such as no magnetic metal object within the range of 50m around, no non-magnetic metal object within the range of 20m around, and no power transmission and distribution line within the range of 200 m. While the electromagnetic balance adjustment is preferably performed underwater.
The electromagnetic radiator A1 and the electromagnetic detector A3, and the electromagnetic radiator B2 and the electromagnetic detector B4 are small in size, so that electromagnetic balance adjustment is facilitated, the detection sensitivity of the electromagnetic detector is improved, the size of the electromagnetic detector cannot be large, and when the X axis has limited amplitude output, the output of the Y axis and the output of the Z axis are small as much as possible. The electromagnetic detector is small in size, a space electromagnetic distribution field of the electromagnetic detector is favorably an axisymmetric distribution field, and the detection sensitivity of the electromagnetic detector is favorably improved.
When the detector is used for towing detection of a water surface ship, in order to expand the detection range, a spatial combination mode of a plurality of electromagnetic radiators and electromagnetic detectors can be adopted, and the detection area is expanded.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or illustrative of the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An underwater electromagnetic detector capable of distinguishing directions comprises a positioning short-baseline sonar (19) connected with a processing and result display (21); the positioning short-baseline sonar (19) is fixed with the V-shaped towing rod fixing rod (15) through a towing rope and a cable (17); the device is characterized in that the V-shaped towing rod fixing rod (15) is connected with two V-shaped towing rods (14); the two V-shaped towing rods (14) are respectively connected with the rigid connecting rod I (5) and the rigid connecting rod II (6) with the same structure through a rope and a signal cable (13); the front end of the rigid connecting rod II (6) is provided with an electromagnetic radiator A (1), and the rear end is provided with an electromagnetic detector A (3); the front end of the rigid connecting rod II (6) is connected with a front adjusting chain rope (10); the rear end of the rigid connecting rod II (6) is also connected with a rear adjusting chain rope (11); buoyancy adjusting chains (12) are arranged on the front adjusting chain rope (10) and the rear adjusting chain rope (11).
2. The underwater electromagnetic detector capable of distinguishing the azimuth according to claim 1, wherein a first floating ball (8) and a second floating ball (9) are respectively arranged at two ends of the second rigid connecting rod (6).
3. An azimuthally resolved underwater electromagnetic probe according to claim 1, wherein the lines and signal cables (13) are looped around a towing cable pulley (20) at the rear end of the surface tug.
4. The underwater electromagnetic detector with the direction distinguishing function as claimed in claim 1, wherein the upper end of the V-shaped towing rod fixing rod (15) is provided with a floating ball III (16) and a positioning acoustic beacon (18).
5. The underwater electromagnetic detector capable of distinguishing the azimuth according to claim 1, characterized in that a floating body material (7) is arranged in the second rigid connecting rod (6); the length of the second rigid connecting rod (6) is 2-5 m.
6. An underwater electromagnetic detector capable of distinguishing the direction according to claim 1, characterized in that the rigid connecting rod I (5) is provided with an electromagnetic radiator B (2) at the front end and an electromagnetic detector B (4) at the rear end; the electromagnetic radiator B (2) is the same as the electromagnetic radiator A (1), and the electromagnetic detector B (4) is the same as the electromagnetic detector A (3); the first rigid connecting rod (5) and the second rigid connecting rod (6) have the same structure.
7. An underwater electromagnetic detector with direction distinguishing function as claimed in claim 1, wherein said electromagnetic detector A (3) and said electromagnetic detector B (4) are three-axis or two-axis sensors.
8. The underwater electromagnetic detector capable of distinguishing the azimuth according to claim 1, wherein the electromagnetic radiator A and the electromagnetic radiator B are connected with a signal generator through power amplifiers; the signal generator is controlled by the data acquisition and data processor; the input end of the data acquisition and data processor is connected with the signal amplification filter, and the output end of the data acquisition and data processor is connected with the display and memory; the signal amplification filter is connected with the electromagnetic detector A and the electromagnetic detector B.
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| CN201920748762.8U CN210072087U (en) | 2019-05-23 | 2019-05-23 | Underwater electromagnetic detector capable of distinguishing directions |
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| CN201920748762.8U CN210072087U (en) | 2019-05-23 | 2019-05-23 | Underwater electromagnetic detector capable of distinguishing directions |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110261914A (en) * | 2019-05-23 | 2019-09-20 | 西安深维智能科技有限公司 | A kind of underwater electromagnetic detector in distinguishable orientation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110261914A (en) * | 2019-05-23 | 2019-09-20 | 西安深维智能科技有限公司 | A kind of underwater electromagnetic detector in distinguishable orientation |
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