KR100946251B1 - Subsurface topography confirmation system - Google Patents

Subsurface topography confirmation system Download PDF

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Publication number
KR100946251B1
KR100946251B1 KR1020090067946A KR20090067946A KR100946251B1 KR 100946251 B1 KR100946251 B1 KR 100946251B1 KR 1020090067946 A KR1020090067946 A KR 1020090067946A KR 20090067946 A KR20090067946 A KR 20090067946A KR 100946251 B1 KR100946251 B1 KR 100946251B1
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South Korea
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detector
marker
unit
buoyancy
control unit
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KR1020090067946A
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Korean (ko)
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박태호
황성수
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(주)새한지오텍
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/48—Means for searching for underwater objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
    • 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

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

PURPOSE: A subsurface topography confirmation system is provided to find an underwater detector although the connection of the discovery ship and underwater detector is cut, by mounting a lifting device and signal device on the underwater detector. CONSTITUTION: A subsurface topography confirmation system comprises an underwater detector(100) and a detecting device(200). The underwater detector comprises a detector body, a lifting device, a signal device, a water pressure sensor(170), a control unit(180), a distance measurement unit(130), a positioning device(140) and a transmission unit(150). The detector body is streamlined shape in order to move under the water. The lifting device is built-in in the detector body. The detecting device is composed of a discovery ship, a drive unit, a lifting facility, a receiver(240), a controller(250), and an output unit(260). A supporting body is vertically mounted on the ship body to rotate. The horizontal object is installed on the supporting body in the horizontal direction. The discovery ship comprises a guide body installed at the supporting body.

Description

해저지표물의 위치정보를 업데이트하는 해저지형지물 확인시스템{Subsurface Topography Confirmation System}Subsurface Topography Confirmation System for updating the location information of subsurface markers

본 발명은 해저지표물의 위치정보를 업데이트하는 해저지형지물 확인시스템시스템에 관한 것이다.The present invention relates to a system for identifying a seabed terrain feature for updating position information of a seabed landmark.

일반적으로 해저 지형변화 조사는, 수중탐지기를 탐사선박으로 끌고 가면서 수중탐지기로부터 생성된 해저영상을 매개로 지형변화를 확인함으로써 이루어진다.In general, the investigation of the topographical change of the seabed is performed by checking the topographical change through the seabed image generated from the underwater probe while dragging the underwater probe to the probe.

이러한 지형변화 확인을 위해 대한민국 등록실용신안(20-0415471; 수중탐지기)가 고안되었다. The Republic of Korea Utility Utility Model (20-0415471; underwater detector) was devised to confirm such terrain changes.

상기 수중탐지기는, 탐사선박에 의해 끌려가면서 해저지형에 따른 해저영상을 생성한다. The underwater detector generates a seabed image according to the seabed topography while being pulled by the probe.

하지만 상기와 같은 수중탐지기는, 탐사선박과 연결해주는 와이어가 끊어질 경우, 수중탐지기가 가라앉으면서 분실되기 쉬웠다. However, the above-described underwater detector, if the wire connecting the probe was broken, it was easy to lose the underwater detector sinking.

따라서, 고가의 수중탐지기를 찾기 위해 많은 시간과 노동력이 소비되었다.Therefore, a lot of time and labor was spent searching for expensive underwater detectors.

이에, 상기 수중탐지기의 분실을 방지하며, 안정적으로 해저지형을 확인할 수 있는 해저지형지물 확인시스템이 요구되었다.Thus, there is a need for a seabed terrain identification system that can prevent the loss of the underwater detector, and can stably identify the seabed terrain.

본 발명은 상기와 같은 문제점을 해결하기 위한 것으로, 수중탐지기의 분실을 방지하며, 안정적으로 해저지형을 확인할 수 있는 해저지형지물 확인시스템을 제공하는 것을 해결하고자 하는 과제로 한다.The present invention is to solve the above problems, to prevent the loss of the underwater detector, and to solve the problem to provide a submarine topography identification system that can stably check the seabed topography.

상기와 같은 과제를 해결하기 위한 본 발명은, 상방으로 개구되며 내벽에 형성된 제1걸림부(112a)를 갖추고서 상부에 구비되는 부력체설치부(112)와, 제1걸림부(112a)와 맞물리는 제1돌부(113a)를 갖추고서 부력체설치부(112)를 개폐하는 제1덮개(113)와, 상방으로 개구되며 내벽에 형성된 제2걸림부(114a)를 갖추고서 상부에 구비되는 표식체설치부(114)와, 제2걸림부(114a)와 맞물리는 제2돌부(115a)를 갖추고서 표식체설치부(114)를 개폐하는 제2덮개(115)를 구비한 탐지기바디(110)와; 부력체설치부(112)에 배치되는 신축재질의 부력체(126)와, 탐지기바디(110)에 내설되어 부력체(126)와 연통되는 부양장치압축탱크(121)와, 탐지기바디(110)에 내설되어 부양장치압축탱크(121)에 고압의 가스를 압축해 공급하는 부양장치컴프레서(122)와, 부양장치컴프레서(122)에 내설되어 부양장치압축탱크(121)로부터 부력체(126)로의 압축가스공급을 제어하는 부양장치밸브(123)를 갖춘 부양장치(120)와; 표식체설치부(114)에 배치되는 신축재질의 표식체(161)와, 탐지기바디(110)에 내설되며 표식체(161)과 연통되는 연질의 공급라인(162)과, 탐지기바디(110)에 내설되며 공급라인(162)와 연통되는 표식장치압축탱크(163)와, 표식장치압축탱크(163)에 고압의 가스를 압축해 공급하는 표식장치컴프레서(164)와, 표식장치컴프레서(164))에 설치되며 표식장치압축탱크(163)로부터 표식체(161)로의 압축가스공급을 제어하는 표식장치밸브(165)를 갖춘 표식장치(160)와; 탐지기바디(110)에 설치되어 수압을 측정하며 수압에 따른 수압신호를 출력하는 수압센서(170)와; 탐지기바디(110)에 내설되며 수압센서(170)로부터 수압신호를 수신하여 각각의 수압신호에 따라 부양장치밸브(123) 및 표식장치밸브(165)를 작동제어하는 제어유닛(180)과; 탐지기바디(110)에 설치되며, 제어유닛(180)에 의해 작동제어되어 해저면과의 거리를 측정하는 거리측정유닛(130)과; 탐지기바디(110)에 설치되며 제어유닛(180)에 의해 작동제어되어 탐지기바디(110)의 위치를 측정하는 위치추적장치(140)와; 탐지기바디(110)에 설치되며, 제어유닛(180)에 의해 작동제어되어, 거리측정유닛(130)로부터의 거리측정신호와 위치추적장치(140)로부터의 위치측정신호를 무선송출하는 송신유닛(150)으로 구성된 수중탐지기(100)와, 수면 위를 이동하는 선박바디(211)와, 선박바디(211)에 수직방향으로 설치되어 회전하는 지지체(213)와, 지지체(213)에 수평방향으로 설치되는 수평체(214)와, 지지체(213) 또는 수평체(214)에 설치되는 다수의 가이드체(215)를 갖춘 탐사선박(210)과; 선박바디(211)에 설치되며, 지지체(213)를 회전시키는 구동장치(220)와; 선박바디(112)에 설치되고, 가이드체(215)에 의해 안내되며 탐지기바디(110)에 연결되는 인양와이어(231)를 갖추고서 인양와이어(231)를 감거나 푸는 인양장치(230)와; 선박바디(211)에 설치되며 송신유닛(150)로부터 거리측정신호 및 위치측정신호를 수신하는 수신부(240)와; 선박바디(211)에 설치되며, 수신부(240)로부터 거리측정신호 및 위치측정신호를 수신하여 측정해저영상을 생성하고, 기존해저영상을 업데이트하는 제어부(250)와; 선박바디(211)에 설치되며, 제어부(250)에 의해 작동제어되어, 해저영상을 디스플레이하는 출력부(260)를 갖춘 탐사장치(200)로 이루어진 것을 특징으로 한다.The present invention for solving the above problems, the buoyancy body mounting portion 112 and the first locking portion 112a which is provided on the upper portion having a first locking portion 112a which is opened upward and formed on the inner wall and A first cover 113 for opening and closing the buoyancy body mounting portion 112 with an interlocking first protrusion 113a and a second catching portion 114a opened upward and formed on the inner wall are provided on the upper portion. A detector body having a marker body mounting part 114 and a second cover 115 for opening and closing the marker body mounting part 114 having a second protrusion 115a engaged with the second locking part 114a. 110); The buoyancy body 126 of the elastic material disposed in the buoyancy body installation unit 112, the flotation device compression tank 121 is installed in the detector body 110 in communication with the buoyancy body 126, the detector body 110 A flotation device compressor 122 installed in the flotation device compression tank 121 to compress and supply a high-pressure gas to the flotation device compression tank 121, and a buoyancy device compressor 122 installed in the flotation device compressor tank 121 to the buoyancy body 126. A flotation device 120 having a flotation device valve 123 for controlling the compressed gas supply; Marker body 161 of the elastic material disposed on the marker body installation unit 114, the soft supply line 162 and the detector body 110, which is installed in the detector body 110 and in communication with the marker body 161, Marker device compression tank 163 in communication with the supply line 162, the marker device compressor 164 for compressing and supplying a high pressure gas to the marker device compression tank 163, and the marker device compressor 164 A marking device 160 installed at the mark) and having a marking device valve 165 for controlling the supply of compressed gas from the marking device compression tank 163 to the marking body 161; A pressure sensor 170 installed on the detector body 110 to measure water pressure and output a water pressure signal according to the water pressure; A control unit 180 installed in the detector body 110 and receiving and receiving a hydraulic pressure signal from the hydraulic pressure sensor 170 to operate and control the flotation device valve 123 and the marker device valve 165 according to the respective hydraulic pressure signals; A distance measuring unit 130 installed in the detector body 110 and operated by the control unit 180 to measure a distance to the sea bottom; A position tracking device (140) installed in the detector body (110) and operated and controlled by the control unit (180) to measure the position of the detector body (110); It is installed in the detector body 110, the operation unit is controlled by the control unit 180, the transmission unit for transmitting the distance measurement signal from the distance measuring unit 130 and the position measurement signal from the position tracking device 140 ( An underwater detector 100 composed of 150, a ship body 211 that moves on the surface of the water, a support body 213 installed and rotated in a vertical direction to the ship body 211, and a support body 213 in a horizontal direction A probe 210 having a horizontal body 214 to be installed and a plurality of guide bodies 215 installed on the support 213 or the horizontal body 214; A driving device 220 installed in the ship body 211 and rotating the support 213; A lifting device 230 installed on the ship body 112 and having a lifting wire 231 guided by the guide body 215 and connected to the detector body 110 to wind or unwind the lifting wire 231; A receiver 240 installed in the ship body 211 and receiving a distance measuring signal and a position measuring signal from the transmitting unit 150; A control unit 250 installed in the ship body 211 to receive a distance measurement signal and a position measurement signal from the receiver 240 to generate a measured subsea image, and to update an existing subsea image; It is installed on the ship body 211, the operation is controlled by the control unit 250, characterized in that consisting of an exploration apparatus 200 having an output unit 260 for displaying a seabed image.

상기와 같은 본 발명에 따르면, 수중탐지기에 부양장치 및 표식장치를 구비함으로써, 수중탐지기와 탐사선박의 연결이 끊어지더라도, 수중탐지기를 용이하게 찾을 수 있는 효과가 있다.According to the present invention as described above, by providing a flotation device and a marking device in the underwater detector, even if the connection between the underwater probe and the probe, there is an effect that can easily find the underwater detector.

이하 첨부도면에 의거하여 상세히 설명한다.Hereinafter will be described in detail with reference to the accompanying drawings.

도 1은 본 발명에 따른 해저지형지물 확인시스템을 나타내기 위한 구성도이고, 도 2는 본 발명에 따른 해저지형지물 확인시스템을 나타낸 개략도이고, 도 3은 본 발명에 따른 수중탐지기를 나타낸 도면으로, 도 1 내지 도 3을 참조하여 본 발명을 설명하면 다음과 같다.1 is a configuration diagram for showing a seabed terrain identification system according to the present invention, Figure 2 is a schematic diagram showing a seabed terrain identification system according to the present invention, Figure 3 is a view showing an underwater detector according to the present invention 1 to 3, the present invention will be described.

본 발명에 따른 해저지형지물 확인시스템은 해저를 수평이동하는 수중탐지기(100)와, 수중탐지기(100)와 연결되는 탐사장치(200)를 포함한다.The seabed terrain identification system according to the present invention includes an underwater detector 100 for horizontally moving the seabed, and an exploration device 200 connected to the underwater detector 100.

상기 수중탐지기(100)는, 수중을 이동하는 유선형의 탐지기바디(110)와, 탐지기바디(110)에 내설되는 부양장치(120)와, 탐지기바디(110)에 설치되는 표식장치(160)와, 탐지기바디(110)에 설치되는 수압센서(170)와, 탐지기바디(110)에 설치되는 제어유닛(180)과, 탐지기바디(110)에 설치되는 거리측정유닛(130)과, 탐지기바디(110)에 설치되는 위치추적장치(140)와, 탐지기바디(110)에 설치되는 송신유 닛(150)으로 구성된다. The underwater detector 100 includes a streamlined detector body 110 that moves underwater, a flotation device 120 installed in the detector body 110, and a marker device 160 installed in the detector body 110. , The pressure sensor 170 installed on the detector body 110, the control unit 180 installed on the detector body 110, the distance measuring unit 130 installed on the detector body 110, the detector body ( Position tracking device 140 is installed in the 110, and the transmission unit 150 is installed in the detector body (110).

상기 탐지기바디(110)는, 내부에 형성되는 룸 형상의 설치부(111)와, 설치부(111)의 상부에 형성되며 설치부(111)와 연통되는 부력체설치부(112)와, 부력체설치부(112)를 개폐하는 제1덮개(114)와, 설치부(111)의 상부에 형성되는 표식체설치부(114)와, 표식체설치부(114)를 개폐하는 제2덮개(115)로 구성된다. The detector body 110, the room-shaped mounting portion 111 is formed therein, the buoyancy body mounting portion 112 formed on top of the mounting portion 111 and in communication with the mounting portion 111, buoyancy The first cover 114 for opening and closing the body mounting portion 112, the marker body mounting portion 114 formed on the upper portion of the mounting portion 111, and the second cover for opening and closing the marker body mounting portion 114 ( 115).

상기 부력체설치부(112)는, 상면이 개구되며, 내벽에 홈 형상의 제1걸림부(112a)가 다수개 구비되고, 상부에 홈 형상의 제1안착부(112c)가 형성되며, 하부에 상하로 관통된 제1관통부(112b)가 형성된다. The buoyancy body mounting portion 112 has an upper surface, a plurality of groove-shaped first locking portions 112a are provided on the inner wall, a groove-shaped first seating portion 112c is formed on the upper portion, and The first through part 112b penetrated up and down is formed in it.

상기 제1덮개(114)는, 부력체설치부(112)의 제1안착부(112c)에 안착되는 제1개폐판(113c)과, 제1개폐판(113c)로부터 연장되어 부력체설치부(112)에 삽입되는 다수의 제1삽입바(113b)와, 제1삽입바(113b)의 끝단에 형성되어 부력체설치부(112)의 제1걸림부(112a)과 맞물리는 제1돌부(113a)로 구성된다. 이때, 제1삽입바(113b)는 약간의 탄성을 가져 외력이 가해질 경우 내측으로 오므라든다. The first cover 114 extends from the first opening and closing plate 113c and the first opening and closing plate 113c seated on the first seating portion 112c of the buoyancy body mounting portion 112 and the buoyancy body mounting portion. A plurality of first insertion bars 113b inserted into the 112 and first protrusions formed at the ends of the first insertion bars 113b and engaged with the first catching portions 112a of the buoyancy body mounting portion 112. It consists of 113a. At this time, the first insertion bar 113b has a slight elasticity and rises inward when an external force is applied.

상기 표식체설치부(114)는, 탐지기바디(110)의 후미에 형성되어 상면이 개구되며, 내벽에 홈 형상의 제2걸림부(114a)가 다수개 구비되고, 상부에 홈 형상의 제2안착부(114c)가 형성되며, 하부에 상하로 관통된 제2관통부(114b)가 형성된다.The marker installation portion 114 is formed at the rear of the detector body 110, the upper surface is opened, a plurality of groove-shaped second locking portion 114a is provided on the inner wall, the second seat of the groove shape on the top The part 114c is formed, and the 2nd penetration part 114b which penetrates up and down is formed in the lower part.

상기 제2덮개(115)는, 표식체설치부(114)의 제2안착부(114c)에 안착되는 제2개폐판(115c)과, 제2개폐판(115c)로부터 연장되어 표식체설치부(114)에 삽입되는 다수의 제2삽입바(115b)와, 제2삽입바(115b)의 끝단에 형성되어 표식체설치부(114)의 제2걸림부(114a)과 맞물리는 제2돌부(115a)로 구성된다. 이때, 제2삽입바(115b) 는 약간의 탄성을 가져 외력이 가해질 경우 내측으로 오므라든다. The second cover 115 extends from the second opening and closing plate 115c and the second opening and closing plate 115c seated on the second seating portion 114c of the marker installation portion 114 and the marker installation portion. A plurality of second insertion bars 115b inserted into the 114 and second protrusions formed at the ends of the second insertion bars 115b and engaged with the second catching portions 114a of the marker installation portion 114. It consists of 115a. At this time, the second insertion bar 115b has a slight elasticity and retracts inward when an external force is applied.

상기 부양장치(120)는, 부력체설치부(112)에 배치되는 부력체(126)와, 설치부(111)에 설치되는 부양장치압축탱크(121)와, 부양장치압축탱크(112)와 연결된 부양장치컴프레서(122)와, 부양장치압축탱크(112)로부터 배출되는 압축공기를 제어하는 부양장치밸브(123)를 갖춘다.The flotation device 120 includes a buoyancy body 126 disposed on the buoyancy body installation unit 112, a flotation device compression tank 121 installed on the installation unit 111, and a flotation device compression tank 112. It is equipped with a floatation device compressor 122 and a flotation device valve 123 for controlling the compressed air discharged from the flotation device compression tank 112.

상기 부력체(126)는, 신축재질을 갖는 튜브형상의 부양부(126a)와, 부양부(126a)와 연통되며 하단이 부력체설치부(112)의 제1관통부(112b)의 상단과 나사산결합되는 부력체체결부(126b)로 구성된다. The buoyancy body 126 is in communication with the tubular support portion 126a having an elastic material, the support portion 126a, and the lower end of the first through portion 112b of the buoyancy body installation portion 112 and the thread It is composed of a buoyancy fastening portion 126b to be coupled.

상기 부양장치압축탱크(121)는 압축공기를 수용하는 통상의 저장탱크로서, 별도의 연결라인(L)을 매개로 부력체설치부(112)의 제1관통부(112b)와 연통된다. 이때, 연결라인(L)의 단부에는 나사산이 형성되어, 제1관통부(112b)의 하부와 나사산 결합된다.The flotation device compression tank 121 is a normal storage tank for receiving the compressed air, and communicates with the first through portion (112b) of the buoyancy body installation portion 112 via a separate connection line (L). At this time, a screw thread is formed at the end of the connection line (L), and the screw thread is coupled to the lower portion of the first through portion (112b).

상기 부양장치컴프레서(122)는, 기체를 압축하는 통상의 압축기로, 부양장치압축탱크(121)에 이웃되도록 설치부(111)에 설치되며, 공기를 압축하여, 압축된 공기를 부양장치압축탱크(121)에 공급한다. The flotation device compressor 122 is a conventional compressor for compressing gas, and is installed in the installation unit 111 so as to be adjacent to the flotation device compression tank 121, and compresses air to convert the compressed air into the flotation device compression tank. It supplies to 121.

상기 부양장치밸브(123)는, 연결라인(L) 상에 설치되며, 제어유닛(180)에 의해 작동제어되어, 연결라인(L)을 개방 또는 폐쇄시킨다.The flotation device valve 123 is installed on the connection line (L), the operation is controlled by the control unit 180, to open or close the connection line (L).

상기 표식장치(160)는, 표식체설치부(114)에 배치되는 표식체(161)와, 표식체(161)와 연통되는 공급라인(162)과, 공급라인(162)과 연결되는 표식장치압축탱크(163)와, 표식장치압축탱크(163)와 연결된 표식장치컴프레서(164)와, 표식장치압 축탱크(163)로부터 배출되는 압축공기를 제어하는 부양장치밸브(165)로 구성된다.The marker device 160, the marker body 161 disposed in the marker body installation unit 114, the supply line 162 in communication with the marker body 161, the marker device connected to the supply line 162 Compression tank 163, a marker device compressor 164 connected to the marker device compression tank 163, and a flotation device valve 165 for controlling the compressed air discharged from the marker device compression tank 163.

상기 표식체(161)는, 신축재질로서, 통상의 풍선과 같이 공기가 주입되면 부풀어 오른다. The marker 161 is a stretchable material, and swells when air is injected like a normal balloon.

상기 공급라인(162)는, 연질의 파이프 형상으로, 설치부(111)에 설치되며, 일단이 표식체설치부(114)의 제2관통부(114b)를 관통하여 표식체(161)와 연결되고, 타단이 표식장치압축탱크(163)와 연결된다. 이때, 공급라인(162)은 표식체(161)가 기준위치까지 뜰 수 있도록 충분한 길이를 갖으며, 별도의 드럼에 의해 충분한 길이가 권취된다.The supply line 162 has a soft pipe shape, is installed in the mounting portion 111, and one end thereof passes through the second through portion 114b of the marker body mounting portion 114 to be connected to the marker body 161. The other end is connected to the marker device compression tank 163. At this time, the supply line 162 has a sufficient length so that the marker 161 can float to the reference position, the sufficient length is wound by a separate drum.

상기 표식장치압축탱크(163)는, 압축공기를 수용하는 통상의 저장탱크로서, 설치부(111)에 설치되어, 공급라인(162)을 매개로 표식체설치부(161)와 연결된다. The marker device compression tank 163 is a normal storage tank for receiving compressed air, is installed in the mounting portion 111, and is connected to the marker installation portion 161 via the supply line 162.

상기 표식장치컴프레서(164)는, 기체를 압축하는 통상의 압축기로, 표식장치압축탱크(163)에 이웃되도록 설치부(111)에 설치되며, 공기를 압축하여, 압축된 공기를 표식장치압축탱크(163)에 공급한다. The marker device compressor 164 is a conventional compressor that compresses gas, and is installed in the installation unit 111 so as to be adjacent to the marker device compression tank 163, and compresses air to convert the compressed air into the marker device compression tank. To 163.

상기 표식장치밸브(165)는, 표식장치압축탱크(163)에 설치되며, 제어유닛(180)에 의해 작동제어되어, 공급라인(165)을 개폐한다.The marker device valve 165 is installed in the marker device compression tank 163 and is operated by the control unit 180 to open and close the supply line 165.

상기 수압센서(170)는, 탐지기바디(110)의 저면에 설치되며, 탐지기바디(110)가 위치한 수압을 측정하여, 수압신호를 제어유닛(180)으로 출력한다. 이때, 수압센서(170)는 수위에 따른 수압을 측정할 수 있는 것이면 어떤 것이든 무방하다. The water pressure sensor 170 is installed on the bottom surface of the detector body 110, measures the water pressure in which the detector body 110 is located, and outputs a water pressure signal to the control unit 180. At this time, the water pressure sensor 170 may be any one that can measure the water pressure according to the water level.

상기 제어유닛(180)은, 탐지기바디(110)의 설치부(111)에 설치되어, 수압센 서(170)로부터 수압신호를 수신하며, 수신된 수압신호를 판독하여, 탐지기바디(110)의 현재위치 수압에 따라 부양장치밸브(123) 및 표식장치밸브(165)를 작동제어한다.The control unit 180 is installed in the installation unit 111 of the detector body 110, receives a hydraulic pressure signal from the hydraulic pressure sensor 170, and reads the received hydraulic pressure signal, of the detector body 110 The flotation device valve 123 and the marker device valve 165 are operated and controlled according to the current position water pressure.

상기 거리측정유닛(130)는, 초음파를 출력하고 이로부터 돌아오는 반사파를 수신하는 통상의 초음파센서로, 제어유닛(180)에 의해 작동제어되며, 해저면과의 거리를 측정하여 측정값에 따른 측정신호를 출력한다. The distance measuring unit 130 is a conventional ultrasonic sensor that outputs an ultrasonic wave and receives a reflected wave back from it. The distance measuring unit 130 is operated and controlled by the control unit 180. The distance measuring unit 130 measures a distance from the sea bottom and according to the measured value. Output the measurement signal.

상기 위치추적장치(140)는, 제어유닛(180)에 의해 작동제어되며, 거리측정유닛(130)에 의해 측정되고 있는 위치를 나타내는 위치측정신호를 출력한다. 이때, 위치추적장치(140)는, 수중탐지기(100)의 위치를 나타내는 통상의 대수심용 위치추적장치로 자세한 설명은 생략하기로 한다. The position tracking device 140 is operated and controlled by the control unit 180, and outputs a position measurement signal indicating the position being measured by the distance measuring unit 130. At this time, the position tracking device 140 is a general position tracking device for indicating the position of the underwater detector 100, detailed description thereof will be omitted.

상기 송신유닛(150)은, 제어유닛(180)에 의해 작동제어되며, 거리측정유닛(130)로부터의 거리측정신호와, 위치추적장치(140)로부터의 위치측정신호를 출력한다. 이때, 상기 송신유닛(150)은 각각의 신호를 음파를 이용하여 무선송출한다.The transmission unit 150 is operated and controlled by the control unit 180 and outputs a distance measurement signal from the distance measurement unit 130 and a position measurement signal from the position tracking device 140. At this time, the transmitting unit 150 wirelessly transmits each signal by using sound waves.

상기 탐사장치(200)는, 수면 위를 이동하는 탐사선박(210)과, 탐사선박(210)에 설치되는 구동장치(220)와, 탐사선박(210)에 설치되는 인양장치(230)와, 탐사선박(210)에 설치되는 수신부(240)와, 탐사선박(210)에 설치되는 제어부(250)와, 탐사선박(210)에 설치되는 출력부(260)로 구성된다.The exploration apparatus 200 includes a probe 210 moving on the surface of the water, a drive device 220 installed on the probe 210, a lifting device 230 installed on the probe 210, and The receiver 240 is installed on the probe 210, the control unit 250 is installed on the probe 210, and the output unit 260 is installed on the probe 210.

상기 탐사선박(210)은, 수면 위를 이동하는 선박바디(211)와, 탐사선박(110)의 후미에 설치되는 베이스(126)와, 베이스(126)의 상부에 회전가능하게 설치되는 선회체(212)와, 선회체(212)의 상부에 수직방향으로 입설되는 지지체(213)와, 지지 체(213)의 상부에 수평방향으로 설치되는 수평체(214)와, 지지체(213)의 측면 또는 수평체(214)의 하면에 설치되는 다수의 가이드체(215)로 구성된다.The probe 210 has a ship body 211 moving on the surface of the water, a base 126 installed at the rear of the probe 110, and a pivot body rotatably installed on the base 126 ( 212, a support body 213 vertically installed on the upper portion of the swinging body 212, a horizontal body 214 installed horizontally on the support body 213, and a side surface of the support body 213, or It consists of the several guide body 215 provided in the lower surface of the horizontal body 214.

상기 구동장치(220)는, 유압 또는 전기를 이용하는 통상의 모터를 갖추고서, 베이스(216)에 내설되어, 선회체(212)를 회전시킨다. 또한, 구동장치(220)는 통상의 크레인장치에 사용되는 것으로, 선회체(212)와의 연결관계는 생략하기로 한다.The drive device 220 is equipped with a normal motor using hydraulic pressure or electricity, and is built in the base 216 to rotate the swinging structure 212. In addition, the drive device 220 is used in a conventional crane device, the connection relationship with the swinging structure 212 will be omitted.

상기 인양장치(230)는, 유압 또는 전기를 이용하는 통상의 모터(미도시)와, 모터에 의해 회전하는 드럼(미도시)과, 일단이 드럼에 고정되고 타단이 탐사선박(210)의 선박바디(211)의 상부 중심에 고정되는 인양와이어(231)를 갖추고서, 탐사선박(210)의 상부에 설치된다. 이때, 인양와이어(231)는 모터의 회전에 따라 감거나 풀린다.The lifting device 230 is a conventional motor (not shown) using hydraulic or electricity, a drum (not shown) rotated by the motor, one end is fixed to the drum and the other end of the ship body of the probe 210 Equipped with a lifting wire 231 is fixed to the upper center of the 211, it is installed on the top of the probe (210). At this time, the lifting wire 231 is wound or unwinded according to the rotation of the motor.

상기 수신부(240)는, 탐사선박(210)의 저면에 설치되며, 수중탐지기(100)의 송신유닛(150)으로부터 출력되는 거리측정신호 및 위치측정신호를 수신한다. The receiving unit 240 is installed on the bottom surface of the probe 210, and receives the distance measurement signal and the position measurement signal output from the transmission unit 150 of the underwater detector 100.

상기 제어부(250)는, 탐사선박(210)에 설치되며, 수신부(240)로부터 거리측정신호와 위치측정신호를 수신하고, 이를 판독하여 출력부(260)를 매개로 측정된 해저지형을 해저영상으로 나타낸다. 이때, 제어부(250)는, 기존해저영상과 생성된 해저영상이 동일하면 생성된 해저영상을 삭제하고, 기존해저영상과 생성된 해저영상이 다르면 기존해저영상을 삭제함과 동시에 생성된 해저영상을 저장한다. The control unit 250 is installed on the probe 210, receives the distance measurement signal and the position measurement signal from the receiving unit 240, and reads the seabed topography measured by the output unit 260 undersea image Represented by In this case, the controller 250 deletes the generated submarine image if the existing submarine image is the same as the generated submarine image, and deletes the existing submarine image and stores the generated submarine image if the existing submarine image is different from the existing submarine image. do.

상기 출력부(260)는, 통상의 디스플레이장치로서, 탐사선박(210)에 설치되며, 제어부(250)에 의해 작동제어되어, 생성된 해저영상을 디스플레이한다.The output unit 260, which is a conventional display device, is installed on the probe 210 and is operated by the controller 250 to display the generated submarine image.

도 4 내지 도 8은 본 발명에 따른 해저지형지물 확인시스템의 작용을 나타낸 도면으로서, 도 4 내지 도 8을 참조하여 본 발명에 따른 해저지형지물 확인시스템의 작용을 설명하면 다음과 같다.4 to 8 is a view showing the action of the seabed terrain feature identification system according to the present invention, the operation of the seabed terrain feature identification system according to the present invention with reference to Figs.

우선, 상기 수중탐지기(100) 및 탐사장치(200)를 해저지형을 확인하고자 하는 장소에 배치시킨 후, 탐사선박(210)을 전방으로 이동시키면, 수중탐지기(100)는 탐사선박(210) 보다 후방에 배치되면서 탐사선박(210)에 의해 이끌려 수중을 이동한다.First, after placing the underwater detector 100 and the probe 200 in a place to check the seabed topography, and moving the probe 210 forward, the underwater detector 100 is more than the probe 210 It is arranged at the rear and is guided by the probe 210 to move underwater.

이때, 상기 거리측정유닛(130)은 해저면으로 초음파를 송출하고, 되돌아 오는 반사파를 수신하여, 측정된 해저지형에 대한 거리측정신호를 출력하며, 거리측정신호를 수신한 송신유닛(150)이 이를 외부로 무선송출한다. 또한, 위치추적장치(140)는 현재위치를 나타내는 위치측정신호를 출력하고, 위치측정신호를 수신한 송신유닛(150)이 이를 외부로 무선송출한다.At this time, the distance measuring unit 130 transmits ultrasonic waves to the sea floor, receives the reflected wave back, outputs a distance measurement signal for the measured seabed topography, and the transmitting unit 150 receiving the distance measurement signal is This is wirelessly transmitted to the outside. In addition, the position tracking device 140 outputs a position measurement signal indicating the current position, and the transmission unit 150 receiving the position measurement signal is wirelessly transmitted to the outside.

상기 송신유닛(150)으로부터 거리측정신호 및 위치측정신호가 출력되면, 탐사장치(200)의 수신부(240)가 이를 수신하여 제어부(250)로 송출한다. 이때, 제어부(250)는 거리측정신호와 위치측정신호를 판독하여 해저영상을 생성한 후, 생성된 해저영상이 기존해저영상과 동일하면 삭제하고 동일하지 않으면, 기존해저영상을 새로운 해저영상으로 업데이트한다. When the distance measurement signal and the position measurement signal are output from the transmitting unit 150, the receiving unit 240 of the probe 200 receives it and transmits it to the control unit 250. At this time, the controller 250 reads the distance measurement signal and the position measurement signal to generate a subsea image, and if the generated submarine image is the same as the existing submarine image, deletes it, and if it is not the same, updates the existing submarine image to the new submarine image do.

한편, 장기간의 사용 또는 기타 외력에 의해 인양장치(230)의 인양와이어(231)가 끊어지면, 수중탐지기(100)는 탐사선박(210)과의 연결이 끊어지면서, 가라앉는다. On the other hand, when the lifting wire 231 of the lifting device 230 is broken by prolonged use or other external force, the underwater detector 100 is disconnected from the probe 210, and sinks.

이때, 상기 수중탐지기(100)가 가라앉음에 따라, 수압센서(170)가 측정하는 수압이 변하며, 변화된 수압에 따른 수압신호가 수압센서(170)로부터 제어유닛(180)으로 전달된다.At this time, as the underwater detector 100 sinks, the water pressure measured by the water pressure sensor 170 changes, and the water pressure signal according to the changed water pressure is transmitted from the water pressure sensor 170 to the control unit 180.

여기서, 상기 제어유닛(180)이 측정수압이 기준값을 벗어났다는 수압신호를 수신하면, 제어유닛(180)은 부양장치밸브(124)를 개방한다.Here, when the control unit 180 receives a pressure signal indicating that the measured water pressure is out of the reference value, the control unit 180 opens the flotation device valve 124.

상기 부양장치밸브(124)가 개방되면, 고압의 압축가스가 연결라인(L)을 경유하여, 탐지기바디(110)의 부력체(126)로 공급되고, 압축가스의 팽창력에 의해 부력체(126)가 부풀어 오르면서, 제1개폐판(113c)이 상방으로 힘을 받게 되고, 제1덮개(113)의 제1돌부(113a)가 부력체설치부(112)의 제1걸림부(112a)로부터 이탈되어, 도 4와 같이 된다. When the flotation device valve 124 is opened, the high pressure compressed gas is supplied to the buoyancy body 126 of the detector body 110 via the connection line L, and the buoyancy body 126 is caused by the expansion force of the compressed gas. ) Is swollen, the first opening and closing plate 113c is forced upward, and the first protrusion 113a of the first cover 113 is the first locking portion 112a of the buoyancy body mounting portion 112. It is separated from and becomes like FIG.

계속해서 상기 부력체(126)에 압축가스가 공급되면, 도 5와 같이 부력체(126)이 더욱 부풀어 오르고, 부력체(126)의 팽창력에 의해 제1덮개(113)가 부력체설치부(112)로부터 완전히 이탈된다.Subsequently, when the compressed gas is supplied to the buoyancy body 126, the buoyancy body 126 is further inflated as shown in FIG. 5, and the first cover 113 is buoyant body installation part by the expansion force of the buoyancy body 126. 112)

따라서, 상기 부력체(126)에는 부력이 작용하게 되고, 부력에 의해 도 6과 같이 수중탐지기(100)가 수면으로 부양된다. 이때, 부력체(126)가 일정정도 부풀어 오르면 제어유닛(180)은 부양장치밸브(124)를 폐쇄하여 부력체(126)이 더이상 부풀어 오르지 않도록 한다.Therefore, the buoyancy force acts on the buoyancy body 126, and the underwater detector 100 is floated to the water surface as shown in FIG. 6 by the buoyancy force. At this time, when the buoyancy body 126 swells to a certain degree, the control unit 180 closes the levitation device valve 124 so that the buoyancy body 126 does not swell anymore.

이에 따라, 유실된 상기 수중탐지기(100)를 용이하게 찾을 수 있다.Accordingly, the lost underwater detector 100 can be easily found.

한편, 상기와 같이 수중탐지기(100)가 수면으로 부양되면, 수압센서(170)는 수중탐지기(100)가 부양된 위치에 따른 수압신호를 출력하고, 이를 수신한 제어유 닛(180)은, 표식장치(160)의 표식장치밸브(165)를 개방하여, 표식체(161)로 공기를 공급한다.On the other hand, when the underwater detector 100 is raised to the surface as described above, the water pressure sensor 170 outputs a water pressure signal according to the position where the underwater detector 100 is supported, the control unit 180 receives the, The marker device 165 of the marker device 160 is opened to supply air to the marker body 161.

상기 표식체(161)에 공기가 공급되면, 도 6과 같이 표식체(161)가 부풀어 오르면서, 그 팽창력에 의해 제2덮개(115)가 개방되고, 표식체(161)는 하늘로 올라간다. 이때, 표식체(161)의 부피가 일정정도되면, 제어유닛(180)은 표식장치밸브(165)를 폐쇄하여 표식체(161)이 더이상 팽창하지 않도록 한다. 한편, 제2덮개(115)의 개방은 제1덮개(113)과 동일한 과정을 거친다.When air is supplied to the marker 161, the marker 161 swells as shown in FIG. 6, the second cover 115 is opened by the expansion force, and the marker 161 rises to the sky. At this time, if the volume of the marker body 161 is constant, the control unit 180 closes the marker device valve 165 so that the marker body 161 does not expand any more. On the other hand, the opening of the second cover 115 goes through the same process as the first cover 113.

따라서, 관리자는 표식체(161)를 통해 분실된 수중탐지기(100)를 용이하게 찾을 수 있다. Therefore, the manager can easily find the lost underwater detector 100 through the marker 161.

한편, 상기 해저지형 확인작업이 완료되면, 수중탐지기(100)가 탐사선박(210)으로 이동되어야 한다.On the other hand, when the seabed topography check is completed, the underwater detector 100 should be moved to the probe 210.

이때, 상기 작업자가 인양장치(230)를 구동시키면, 인양와이어(231)가 권취되면서 수중탐지기(100)가 수면 위로 이동하여 도 7과 같이 된다. 이후, 작업자가 구동장치(220)를 구동하여, 선회체(212)를 회전시키면, 도 8과 같이 수중탐지기(100)가 탐사선박(210)의 상부에 위치하게 된다. 계속해서, 작업자가 인양장치(230)를 작동시켜 인양와이어(231)를 풀으면 수중탐지기(100)가 탐사선박(210)에 안착된다.At this time, when the worker drives the lifting device 230, the lifting wire 231 is wound around the underwater detector 100 is moved to the surface as shown in FIG. Thereafter, when the operator drives the driving device 220 to rotate the swinging structure 212, the underwater detector 100 is positioned above the probe 210 as shown in FIG. 8. Subsequently, when the operator operates the lifting device 230 to loosen the lifting wire 231, the underwater detector 100 is seated on the probe 210.

상술한 바와 같이, 본 발명에 따른 해저지형지물 확인시스템은, 수중탐지기(100)가 탐사선박(210)으로부터 이탈되더라도, 수중탐지기(100)를 수면위로 부양시킬 수 있어, 분실된 수중탐지기(100)를 용이하게 찾을 수 있으며, 표식체(161)를 통해 더욱더 용이하게 수중탐지기(100)를 찾을 수 있다.As described above, according to the present invention, the underwater terrain feature identification system according to the present invention can support the underwater detector 100 on the surface of the water, even if the underwater detector 100 is separated from the probe 210, and thus the lost underwater detector 100 ) Can be easily found, and the underwater detector 100 can be found more easily through the marker 161.

도 1은 본 발명에 따른 해저지형지물 확인시스템을 나타내기 위한 구성도이고, 1 is a configuration diagram for showing a seabed terrain feature identification system according to the present invention,

도 2는 본 발명에 따른 해저지형지물 확인시스템을 나타낸 개략도이고, Figure 2 is a schematic diagram showing a seabed terrain feature identification system according to the present invention,

도 3은 본 발명에 따른 수중탐지기를 나타낸 도면이고,3 is a view showing an underwater detector according to the present invention,

도 4 내지 도 8은 본 발명에 따른 해저지형지물 확인시스템의 작용을 나타낸 도면이다.4 to 8 is a view showing the action of the seabed terrain feature identification system according to the present invention.

- 첨부도면의 주요부분에 대한 용어설명 --Explanation of terms for main parts of attached drawings-

100; 수중탐지기 110; 탐지기바디100; Underwater detector 110; Detector body

120; 부양장치 130; 거리측정유닛120; Flotation device 130; Distance measuring unit

140; 위치추적장치 150; 송신유닛140; Location tracking device 150; Sending unit

160; 표식장치 170; 수압센서160; Marker device 170; Water pressure sensor

180; 제어유닛 200; 탐사장치 210; 탐사선박 220; 구동장치 230; 인양장치 240; 수신부 250: 제어부 260; 출력부 180; Control unit 200; Exploration device 210; Probe 220; Drive unit 230; Lifting device 240; Receiver 250: Control unit 260; Output

Claims (1)

상방으로 개구되며 내벽에 형성된 제1걸림부(112a)를 갖추고서 상부에 구비되는 부력체설치부(112)와, 제1걸림부(112a)와 맞물리는 제1돌부(113a)를 갖추고서 부력체설치부(112)를 개폐하는 제1덮개(113)와, 상방으로 개구되며 내벽에 형성된 제2걸림부(114a)를 갖추고서 상부에 구비되는 표식체설치부(114)와, 제2걸림부(114a)와 맞물리는 제2돌부(115a)를 갖추고서 표식체설치부(114)를 개폐하는 제2덮개(115)를 구비한 탐지기바디(110)와; 부력체설치부(112)에 배치되는 신축재질의 부력체(126)와, 탐지기바디(110)에 내설되어 부력체(126)와 연통되는 부양장치압축탱크(121)와, 탐지기바디(110)에 내설되어 부양장치압축탱크(121)에 고압의 가스를 압축해 공급하는 부양장치컴프레서(122)와, 부양장치컴프레서(122)에 내설되어 부양장치압축탱크(121)로부터 부력체(126)로의 압축가스공급을 제어하는 부양장치밸브(123)를 갖춘 부양장치(120)와; 표식체설치부(114)에 배치되는 신축재질의 표식체(161)와, 탐지기바디(110)에 내설되며 표식체(161)과 연통되는 연질의 공급라인(162)과, 탐지기바디(110)에 내설되며 공급라인(162)와 연통되는 표식장치압축탱크(163)와, 표식장치압축탱크(163)에 고압의 가스를 압축해 공급하는 표식장치컴프레서(164)와, 표식장치컴프레서(164))에 설치되며 표식장치압축탱크(163)로부터 표식체(161)로의 압축가스공급을 제어하는 표식장치밸브(165)를 갖춘 표식장치(160)와; 탐지기바디(110)에 설치되어 수압을 측정하며 수압에 따른 수압신호를 출력하는 수압센서(170)와; 탐지기바디(110)에 내설되며 수압센서(170)로부터 수압신호를 수신하여 각각의 수압신호에 따라 부양장치밸브(123) 및 표식장치밸브(165)를 작동제어하는 제어유닛(180)과; 탐지기바디(110)에 설치되며, 제어유닛(180)에 의해 작동제어되어 해저면과의 거리를 측정하는 거리측정유닛(130)과; 탐지기바디(110)에 설치되며 제어유닛(180)에 의해 작동제어되어 탐지기바디(110)의 위치를 측정하는 위치추적장치(140)와; 탐지기바디(110)에 설치되며, 제어유닛(180)에 의해 작동제어되어, 거리측정유닛(130)로부터의 거리측정신호와 위치추적장치(140)로부터의 위치측정신호를 무선송출하는 송신유닛(150)으로 구성된 수중탐지기(100)와, Buoyancy is provided with a buoyancy body installation portion 112 provided on the upper portion having a first locking portion 112a formed on the inner wall and opened upward, and a first protrusion 113a engaged with the first locking portion 112a. The first cover 113 for opening and closing the body mounting portion 112, the marker body mounting portion 114 provided on the upper portion having a second locking portion (114a) which is opened upward and formed on the inner wall, and the second locking A detector body (110) having a second cover (115) for opening and closing the marker body mounting portion (114) having a second protrusion (115a) engaged with the portion (114a); The buoyancy body 126 of the elastic material disposed in the buoyancy body installation unit 112, the flotation device compression tank 121 is installed in the detector body 110 in communication with the buoyancy body 126, the detector body 110 A flotation device compressor 122 installed in the flotation device compression tank 121 to compress and supply a high-pressure gas to the flotation device compression tank 121, and a buoyancy device compressor 122 installed in the flotation device compressor tank 121 to the buoyancy body 126. A flotation device 120 having a flotation device valve 123 for controlling the compressed gas supply; Marker body 161 of the elastic material disposed on the marker body installation unit 114, the soft supply line 162 and the detector body 110, which is installed in the detector body 110 and in communication with the marker body 161, Marker device compression tank 163 in communication with the supply line 162, the marker device compressor 164 for compressing and supplying a high pressure gas to the marker device compression tank 163, and the marker device compressor 164 A marking device 160 installed at the mark) and having a marking device valve 165 for controlling the supply of compressed gas from the marking device compression tank 163 to the marking body 161; A pressure sensor 170 installed on the detector body 110 to measure water pressure and output a water pressure signal according to the water pressure; A control unit 180 installed in the detector body 110 and receiving and receiving a hydraulic pressure signal from the hydraulic pressure sensor 170 to operate and control the flotation device valve 123 and the marker device valve 165 according to the respective hydraulic pressure signals; A distance measuring unit 130 installed in the detector body 110 and operated by the control unit 180 to measure a distance to the sea bottom; A position tracking device (140) installed in the detector body (110) and operated and controlled by the control unit (180) to measure the position of the detector body (110); It is installed in the detector body 110, the operation unit is controlled by the control unit 180, the transmission unit for transmitting the distance measurement signal from the distance measuring unit 130 and the position measurement signal from the position tracking device 140 ( An underwater detector (100) consisting of: 수면 위를 이동하는 선박바디(211)와, 선박바디(211)에 수직방향으로 설치되어 회전하는 지지체(213)와, 지지체(213)에 수평방향으로 설치되는 수평체(214)와, 지지체(213) 또는 수평체(214)에 설치되는 다수의 가이드체(215)를 갖춘 탐사선박(210)과; 선박바디(211)에 설치되며, 지지체(213)를 회전시키는 구동장치(220)와; 선박바디(112)에 설치되고, 가이드체(215)에 의해 안내되며 탐지기바디(110)에 연결되는 인양와이어(231)를 갖추고서 인양와이어(231)를 감거나 푸는 인양장치(230)와; 선박바디(211)에 설치되며 송신유닛(150)로부터 거리측정신호 및 위치측정신호를 수신하는 수신부(240)와; 선박바디(211)에 설치되며, 수신부(240)로부터 거리측정신호 및 위치측정신호를 수신하여 측정해저영상을 생성하고, 기존해저영상을 업데이트하는 제어부(250)와; 선박바디(211)에 설치되며, 제어부(250)에 의해 작동제어되어, 해저영상을 디스플레이하는 출력부(260)를 갖춘 탐사장치(200)로 이루어진 것을 특징으로 하는 해저지형지물 확인시스템. The ship body 211 which moves on the water surface, the support body 213 installed and rotated in the vertical direction to the ship body 211, the horizontal body 214 provided in the horizontal direction to the support body 213, and the support body ( 213 or a probe 210 having a plurality of guide bodies 215 installed on the horizontal body 214; A driving device 220 installed in the ship body 211 and rotating the support 213; A lifting device 230 installed on the ship body 112 and having a lifting wire 231 guided by the guide body 215 and connected to the detector body 110 to wind or unwind the lifting wire 231; A receiver 240 installed in the ship body 211 and receiving a distance measuring signal and a position measuring signal from the transmitting unit 150; A control unit 250 installed in the ship body 211 to receive a distance measurement signal and a position measurement signal from the receiver 240 to generate a measured subsea image, and to update an existing subsea image; It is installed on the ship body 211, the operation is controlled by the control unit 250, submarine topographical identification system, characterized in that consisting of an exploration device 200 having an output unit 260 for displaying a seabed image.
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101041169B1 (en) 2011-02-11 2011-06-15 (주)대지이엔지 Subsurface topography data collection system
KR101059526B1 (en) 2011-02-11 2011-08-26 (주)대지이엔지 Seawater road change confirmation system
KR101059524B1 (en) 2011-02-11 2011-08-26 (주)대지이엔지 Sea floor topography survey system
CN106542071A (en) * 2016-11-28 2017-03-29 哈尔滨工程大学 Buoyancy and attitude balancer and control method for long voyage AUV
KR102295255B1 (en) * 2020-09-25 2021-08-27 최진호 Ecological investigation and capturing system for ecological disturbance fish species

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JP2006010483A (en) 2004-06-25 2006-01-12 Senaa Kk Method and apparatus for updating information on bottom of water

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101041169B1 (en) 2011-02-11 2011-06-15 (주)대지이엔지 Subsurface topography data collection system
KR101059526B1 (en) 2011-02-11 2011-08-26 (주)대지이엔지 Seawater road change confirmation system
KR101059524B1 (en) 2011-02-11 2011-08-26 (주)대지이엔지 Sea floor topography survey system
CN106542071A (en) * 2016-11-28 2017-03-29 哈尔滨工程大学 Buoyancy and attitude balancer and control method for long voyage AUV
KR102295255B1 (en) * 2020-09-25 2021-08-27 최진호 Ecological investigation and capturing system for ecological disturbance fish species

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