JPH06305485A - Sea bottom magnetic object survey device - Google Patents

Abstract

PURPOSE:To provide a sea bottom magnetic object survey device capable of surveying the location of magnetic objects on the sea bottom safely, rapidly and surely with little error in the man-saving labor-saving state. CONSTITUTION:A magnetic object survey system for detecting magnetic objects existing on and in the sea bottom by a self-traveling device 1 connected to a support ship 2 through a cable 3 so as to move along the sea bottom by remote operation is provided with a depth sensor 16, an azimuth sensor 13, an inclination sensor 17, plural magnetic sensors 4, an underwater telecamera 5 and an ultrasonic survey sensor 6 for detecting foreign matter on and in the sea bottom, all of which are respectively added to the self-traveling device 1, and also a magnetic object survey computer system 28, an ultrasonic survey analysis system 30, an underwater TV display device 31 and a self-traveling device position measuring system 7 respectively mounted to the support ship 2 and actuated on the basis of the output signal of the respective sensors, underwater telecamera 5 and ultrasonic survey sensor 6.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for exploring magnetic objects in the seabed.

[0002]

2. Description of the Related Art Conventionally, as a means for exploring magnetic objects on the seabed, as shown in the perspective view of FIG. 3, conventionally, a dedicated ship in which a plurality of magnetic sensors (about 10) are arranged side by side in a row is used. It is known that there are known means for pulling along the ship, the ship position, the ship speed, and the depth of the magnetic sensor to make a guess as shown in FIG.

[0003]

However, in such a system for estimating the position of a magnetic object in a ship, there are many ship positions, ship speeds, sensor depths, ship motions and parameters until the position is specified. Since one data contains many errors, the object position designation spreads over a wide range. Furthermore, after navigating by ship and collecting data, the presence and position of magnetic objects are estimated based on the navigation area of the ship and the collected data on land, and when using a diver, there is a danger. As a result, there are restrictions on weather, sea conditions, and working hours.

The present invention has been proposed in view of such circumstances, and saves labor and labor with little error, and can safely, promptly and reliably detect the location of a magnetic object in the seabed. It is an object to provide an exploration device.

[0005]

To this end, the present invention detects a magnetic object existing on and in the seabed by a self-propelled device which is connected to a support ship via a cable and moves along the seabed by remote control. In an exploration system for magnetic objects, depth sensors attached to the self-propelled devices,
Azimuth sensor, tilt angle sensor, multiple magnetic sensors, underwater TV camera and ultrasonic sensor for detecting foreign matter on and under the seabed, and each sensor, underwater TV camera and ultrasonic sensor mounted on the support ship, respectively. It is equipped with a magnetic object exploration computer system, an ultrasonic exploration analysis system, an underwater TV display device, and a self-propelled device position measurement system that operate based on the output signal of.

[0006]

With this structure, the magnetic sensor is brought close to the seabed, and the position of the sensor is directly measured.
Use fewer measurement parameters. Therefore, the position of the magnetic sensor is specified by mounting various exploration sensors including the magnetic sensor on the seabed self-propelled device and measuring the position of the self-propelled device by ultrasonic waves, laser, or the like. In addition, a magnetic sensor is obtained from the transmission line in real time, analyzed by a computer, and a magnetic distribution map is created at the same time as the measurement based on the relationship with the position of the self-propelled device to estimate the magnetic object position.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring to the drawings, an embodiment of the present invention will be described. FIG. 1 is an overall perspective view thereof, and FIG. 2 is a block diagram of FIG.

First, referring to FIG. 1, a remote control self-propelled device 1
Is remotely controlled by the support vessel 2, self-propels in the exploration area, and measures the geomagnetism of the exploration area by the magnetic sensor 4 on the sensor arm that is controlled so as to maintain a certain height above the surface of the seabed. Computer system 28
(FIG. 2), a three-dimensional magnetic distribution state, that is, a magnetic map is created. The three-dimensional position measurement of the magnetic sensor was issued by the ultrasonic position measuring device 33 (FIG. 2) on the support ship 2 from the two transmitters contained in the self-propelled device position measuring sensor 7 on the support ship. By receiving two kinds of ultrasonic signals with the position measuring sensor 8 on the self-propelled device 1 and returning to the self-propelled device position sensor 7 on the support ship, the distance between the two transmitters in the same position sensor 7 and The relative position between the self-propelled device 1 and the support ship 2 is obtained from the time difference between the two types of reply signals. Here, as shown in FIG. 2, the position of the magnetic sensor 4 on the self-propelled device is the depth by the depth sensor 16, the angle of the sensor holding arm by the sensor arm angle sensor 15, and the inclination sensor of the self-propelled device itself. 17 and the gyro 13 mounted on the self-propelled device, the azimuth signals are respectively obtained, and in FIG. 1, the relative position from the support ship 2 and the relative position on the self-propelled device 1 and the support ship 2 are obtained.
From the absolute position of itself, the absolute position of the magnetic sensor 4 on the seabed can be specified.

From the abnormal point of the magnetic distribution, if there is a possibility that a magnetic object exists on the surface of the seabed, the magnetic map is used to visually confirm with the underwater TV camera 5 on the support ship 2, and In the case of being in the ground, the position of the magnetic object can be specified by analyzing the reflected sound of the ultrasonic wave emitted into the ground by the ultrasonic underground exploration sensor 6. The self-propelled device 1 and the support ship 2 are connected by a transmission cable 3 which is a composite cable for electric power and signals, transmit electric power from the support ship 2 to the self-propelled device 1, and from the self-propelled device 1 to the support ship 2, Transmits various sensor signals.

Next, referring to FIG. 2, on the self-propelled device 1,
Geomagnetic signal from the magnetic sensor 4, ultrasonic reflected acoustic signal emitted from the underground sensor 6 to the ground, underwater video signal from the underwater TV camera 5, two-dimensional self-propelled device from the gyro 13 Azimuth signal, two vertical axis directions of the self-propelled device itself from the tilt sensor 17, that is, two types of tilt angle signals in the front-rear direction and the left-right direction of the self-propelled device, and a sensor holding the magnetic sensor 4 from the sensor arm angle sensor 15. The angle signal from the horizontal plane of the arm and the depth signal of the self-propelled device from the depth sensor 16 pass through the self-propelled device transmission device 9, the transmission cable 3, the support ship transmission device 27, and the geomagnetic signal is magnetized by the magnetic sensor 4. Ultrasonic underground exploration sensor 6 to the body exploration computer system 28
The ultrasonic reflected acoustic signals of the ultrasonic probe analysis system 30
The underwater video signal of the underwater TV camera 5 is sent to the underwater TV display device 31, the direction signal of the gyro 13, and the tilt sensor 17.
Signal of the sensor arm angle sensor 15 and the signal of the depth sensor 16 are transmitted to the self-propelled device position measuring system 29. Further, the self-propelled device main body is remotely operated from the traveling device remote control device 32 on the support ship, and the operation signal controls the traveling device 14 via the support ship transmission device 27, the transmission cable 3, and the self-propelled device transmission device 9. Then, forward, reverse, left turn, right turn.

The self-propelled device position measuring system 29 shown in FIG.
As shown in, the sensor 7 for measuring the position of the support ship self-propelled device
Also, the relative position of the self-propelled device itself to the support ship and the gyro 1 by the ultrasonic position measuring device 33 (FIG. 2) by the signal from the ultrasonic transmitter of the self-propelled device position measuring sensor 8.
The three-dimensional position of the magnetic sensor 4 itself is specified from the azimuth signal of 3, the signal of the tilt sensor 17, the signal of the sensor arm angle sensor 15, and the signal of the depth sensor 16. In the magnetic object exploration computer system 28, a magnetic distribution state, that is, a magnetic map is created based on the sensor position of the self-propelled device transmission device 9 and the signal of the magnetic sensor 4.
In the ultrasonic exploration analysis system 30, the reflected sound from the ground is displayed on the display by the intensity through the ultrasonic underground exploration sensor 6, thereby discriminating the reflection signal of the magnetic object different from general ground reflection. Identify magnetic objects. The image of the underwater TV camera 5 is displayed on the underwater TV display device 31.

[0012]

According to such an apparatus, the following effects can be obtained. (1) The search area can be easily limited by performing the search with a small error. (2) By processing the sensor data in real time, rapid data analysis becomes possible, and the time spent estimating the exploration target can be shortened. (3) Since it is unmanned underwater, it is safe, and compared to the conventional method that uses a diver, it is possible to perform exploration at any time regardless of weather and sea conditions.

In summary, according to the present invention, a magnetic object exploration system for detecting magnetic objects existing on and in the seabed by a self-propelled device connected to a support ship via a cable and moving along the seabed by remote control. In, a depth sensor, an azimuth sensor, a tilt angle sensor, a plurality of magnetic sensors, an underwater TV camera and an ultrasonic sensor for detecting foreign matter on the seabed and in the seabed, and the support ship A magnetic object exploration computer system, an ultrasonic exploration analysis system, an underwater TV display device, and a self-propelled device position measurement system that operate based on the output signals of the above-mentioned respective sensors, the underwater TV camera, and the ultrasonic sensor are installed. By doing so, it is possible to save the labor, labor and labor, and to search for the location of the magnetic substance on the seabed safely, quickly and surely. Since obtaining a locator of the magnetic objects in the seabed that can, the present invention is extremely useful industrially.

[Brief description of drawings]

FIG. 1 is an overall perspective view of a magnetic object exploration apparatus showing an embodiment of the present invention.

FIG. 2 is a block diagram of FIG.

FIG. 3 is a perspective view showing a conventional magnetic object exploration means.

FIG. 4 is a side view showing a magnetic object exploration means different from FIG.

[Explanation of symbols]

 1 Self-propelled device 2 Support ship 3 Transmission cable 4 Magnetic sensor 5 Underwater TV camera 6 Ultrasonic underground survey sensor 7 Sensor for measuring position of self-propelled device on support ship 8 Sensor for position measurement on self-propelled device 9 Transmission device on self-propelled device 13 Gyro 14 Traveling device 15 Sensor arm angle sensor 16 Depth sensor 17 Tilt sensor 27 Supporting ship transmission device 28 Magnetic object exploration computer system 29 Self-propelled device position measurement system 30 Ultrasonic exploration analysis system 31 Underwater TV display device 32 Traveling device remote control Device 33 Ultrasonic position measuring device

Claims (1)

[Claims] 1. A magnetic object exploration system for detecting a magnetic object existing on and in the seabed by a self-propelled device connected to a support ship via a cable and moving along the seabed by remote control. Depth sensor, azimuth sensor, tilt angle sensor, multiple magnetic sensors, underwater TV camera and ultrasonic sensor for detecting foreign matter on the seabed and in the seabed, which are respectively attached to the device, and are mounted on the support ship respectively. It is characterized by comprising a magnetic object exploration computer system, an ultrasonic exploration analysis system, an underwater TV display device, and a self-propelled device position measurement system that operate based on the output signals of the sensor, the underwater TV camera, and the ultrasonic sensor. An exploration device for magnetic objects in the seabed.