KR101322940B1 - System for updating information of ocean topography with confirming the sea floor by using sonic exploration - Google Patents

Abstract

PURPOSE: A system for identifying the topographic variation of a seawater channel and updating submarine topographic information through acoustic profiling is provided to simplify a connection structure for a buoyant body, thereby quickly fastening the buoyant body. CONSTITUTION: A system for identifying the topographic variation of a seawater channel and updating submarine topographic information through acoustic profiling comprises a sonar (100) and a profiling unit (200). The sonar includes a body, a floating unit, an indicating unit, a water pressure sensor (170), a control unit (180), a distance measuring unit (130), and a positioning unit (140). The body has a buoyant body installing part, a first cover, a lamp installing part, and a second cover. The floating unit has the buoyant body, a compression tank, a compressor, and a valve (123). The indicating unit has a cylinder unit (161) and a lamp. The water pressure sensor outputs a water pressure signal due to water pressure. The control unit receives the water pressure signal, and controls the valve and the cylinder unit according the water pressure signal. The profiling unit has a profiling ship, a driving unit, a lifting unit, a receiving part (240), a control part (250), and an output part (260). [Reference numerals] (123) Floating unit valve; (130) Distance measuring unit; (140) Positioning unit; (150) Transmitting unit; (161) Cylinder unit; (170) Water pressure sensor; (180) Control unit; (240) Receiving part; (250) Control part; (260) Output part

Description

Confirmation of terrain changes to sea channel through acoustic exploration and update system of undersea terrain information {SYSTEM FOR UPDATING INFORMATION OF OCEAN TOPOGRAPHY WITH CONFIRMING THE SEA FLOOR BY USING SONIC EXPLORATION}

The present invention relates to a system for confirming the topographical change of the sea channel through acoustic exploration and a system for updating the topographic information of the seabed, and more particularly, to an acoustic exploration having an improved structure for quick and accurate connection while maintaining the confidentiality of the portion connecting the buoyancy body. The present invention relates to the confirmation of topographical changes to sea channel and the update of the seabed topographic information.

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.

The Republic of Korea Utility Model (Registration No. 20-0415471; Registration Date: April 26, 2006, name; underwater detector) was devised to confirm such terrain changes.

The underwater detector generates a seabed image according to the seabed topography while being pulled by the probe.

However, the above-described underwater detector, if the wire connecting the probe was broken, it was easy to lose the underwater detector sinking.

Therefore, a lot of time and labor was spent searching for expensive underwater detectors.

Accordingly, there is a need for a topography change confirmation system and a seabed topography information updating system to prevent the loss of the underwater detector and to stably check the seabed topography.

To this end, Korean Patent No. 0936467 (2010.01.05.) Has disclosed a system for confirming topographical changes and seabed topography information through sea exploration.

However, in the case of the registered patent, the connection structure for connecting the buoyancy body is a simple screw fastening structure, there is a problem in the airtightness, and also has a disadvantage that the fastening operation is complicated and time-consuming.

Korea Utility Model Registration No. 20-0415471 (April 26, 2006) "Underwater Detector" Republic of Korea Patent Registration No. 10-0936467 (2010.01.05.) "Confirmation of terrain changes and seabed topography information update system through seawater exploration"

The present invention was created in view of the above-mentioned problems in the prior art as described above, to prevent the loss of the underwater detector, and in particular to maximize the air tightness while simplifying the fastening operation by simplifying the connection structure of the buoyancy body, Its main purpose is to provide a system for confirming terrain changes to the sea channel and a system for updating the seabed topography through the acoustic exploration that can perform the seabed topography stable operation.

The present invention is a means for achieving the above object, 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 installation part 112 by having a first protrusion 113a engaged with the second protrusion 113a, and a second locking part 114a which is opened upward and formed on the inner wall. Detector body 110 having a second cover 115 for opening and closing the lamp mounting portion 114 having a lamp mounting portion 114 and a second projection 115a engaged with the second locking portion 114a. )Wow; 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; A marking device 160 having a cylinder mechanism 161 installed on the lamp installation unit 114 and a lamp 162 mounted on the cylinder mechanism 161 to move up and down; 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 a hydraulic pressure signal from the hydraulic pressure sensor 170 to operate and control the flotation device valve 123 and the cylinder mechanism 161 according to each hydraulic pressure signal; 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 in the ship body 211, the operation is controlled by the control unit 250, made of an exploration apparatus 200 having an output unit 260 for displaying a seabed image; The assembly structure between the detector body (110) and the buoyancy body (126) is provided with a body nozzle (NO) on the detector body (110) side; Inner and outer diameters of the front end of the body nozzle (NO) are cut stepwise to form a cutting surface (T) in the outer diameter, the first space (S1) is formed in the inner diameter; A plurality of body hooks H1 are formed on the cutting surface T at intervals in a radial direction; A tip of the buoyancy body nozzle 1100 connected to the buoyancy body 126 is inserted into the body nozzle NO; A portion of the inner diameter of the fastening ring 1210 having a third space S3 of the buoyant body nozzle 1100 having a third space S3 is integrally fixed to the outer diameter and the fastening ring of the buoyant body nozzle 1100 ( It is maintained to have a second space (S2) between the inner diameter of 1210; A nozzle hook (H2) having a shape opposed to the body hook (H1) protrudes from the distal end diameter of the fastening ring (1210); A third O-ring O3 is inserted into the second space S2; After the elastic fixing ring 1202, the pressing ring 1204, and the second O-ring (O2) are sequentially inserted into the front outer peripheral surface of the buoyancy body nozzle (1100), the fastening ring 1210 provides a system for confirming the topography change of the sea channel through the acoustic exploration and the updating of the seabed topography information, which is fixed by compression.

According to the present invention, the buoyant body connection structure is simplified to enable a fast tightening operation, as well as increase the airtightness, and further includes a flotation device and a marking device in the underwater detector, even if the connection between the underwater probe and the probe is broken, There is an effect that can be easily found.

1 is a block diagram showing a seabed terrain information updating system according to the present invention,
2 is a schematic diagram showing a seabed terrain information updating system according to the present invention,
3 is a view showing an underwater detector according to the present invention,
4 to 9 is a view showing the operation of the seabed terrain information updating system according to the present invention,
10 is an exemplary view showing a further embodiment according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Before describing the present invention, the following specific structural or functional descriptions are merely illustrative for the purpose of describing an embodiment according to the concept of the present invention, and embodiments according to the concept of the present invention may be embodied in various forms, And should not be construed as limited to the embodiments described herein.

In addition, since the embodiments according to the concept of the present invention can make various changes and have various forms, specific embodiments are illustrated in the drawings and described in detail herein. However, it should be understood that the embodiments according to the concept of the present invention are not intended to limit the present invention to specific modes of operation, but include all modifications, equivalents and alternatives falling within the spirit and scope of the present invention.

The present invention uses the previously registered Patent No. 0936467, which will be described later. Therefore, the features of the device configuration described below are all those described in the registered Patent No. 0936467.

However, in the present invention, the part of the fastening structure of the buoyancy body improved among the components disclosed in the Patent No. 0936467 forms the most essential structural features.

Therefore, the device configuration, features, and operation relations described below will be referred to the contents of the Patent No. 0936467 as it is, and the configuration related to the main features of the present invention will be described in detail later.

As shown in Figures 1 to 3, the present invention includes an underwater detector 100 for horizontally moving the seabed, and the probe 200 connected to the underwater detector 100.

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).

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 First cover 113 for opening and closing the body mounting portion 112, the lamp mounting portion 114 formed on the upper portion of the mounting portion 111, the second cover 115 for opening and closing the lamp mounting portion 114. It consists of.

The buoyancy body mounting portion 112, the upper surface is opened, the inner wall is provided with a plurality of groove-shaped first locking portion (112a), the groove-shaped first seating portion (112c) is formed on the bottom, The through part 112b penetrated up and down is formed in it.

The first cover 113 is extended 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, buoyancy body installation A plurality of first insertion bars 113b inserted into the portion 112 and first ends formed at ends of the first insertion bars 113b and engaged with the first catching portions 112a of the buoyancy body mounting portion 112. It is comprised by the protrusion 113a. At this time, the first insertion bar 113b has a slight elasticity and rises inward when an external force is applied.

The lamp installation unit 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 groove-shaped second seating portion 114b is formed.

The second cover 115 has a plate shape, and a plurality of second protrusions 115a are provided below the outer circumferential surface, and the second protrusions 115a are attached to the second catching portions 114a of the lamp installation unit 114. Removably fixed. At this time, it is preferable that the second protrusion 115a has a slight elasticity so that the second protrusion 115a can be easily inserted into the second catching part 114a.

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.

The buoyancy body 126 is in communication with the tubular support portion 126a having an elastic material and the support portion 126a, and the lower end is threadedly coupled to the upper end of the through portion 112b of the buoyancy body installation portion 112. It consists of the buoyancy fastening part 126b.

The flotation device compression tank 121 is a normal storage tank for receiving the compressed air, and communicates with the through portion 112b of the buoyancy body installation portion 112 via a separate connection line (L). At this time, a thread is formed at the end of the connection line (L), and the thread is coupled to the lower portion of the through part (112b).

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.

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).

The marking device 160 includes a cylinder mechanism 161 installed in the lamp installation unit 114 and a lamp 162 provided to be liftable on the cylinder mechanism 161.

The cylinder mechanism 161 is a normal one operated by hydraulic pressure or pneumatic pressure, and comprises a cylinder 161a and a piston 161b provided to be able to be lifted and lowered on the cylinder 161a.

The lamp 162 is a conventional one that emits light, and is controlled by the control unit 180 to be turned on or off.

In addition, the lamp 162 is installed in the piston 161b and moves up and down as the piston 161b moves up and down. At this time, the lamp 162 is preferably provided with a protective case (not shown) to withstand the external force enough to transmit light.

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.

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, reads the received hydraulic pressure signal, the current of the detector body 110 According to the position water pressure, the flotation device valve 123, the lamp 162, and the cylinder mechanism 161 are operated and controlled.

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.

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. 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.

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.

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.

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 structure 212, a horizontal body 214 installed horizontally on the upper portion of the support body 213, and a side surface or a horizontal side of the support body 213. It consists of many guide bodies 215 provided in the lower surface of the sieve 214.

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.

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.

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.

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.

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.

4 to 9 are views showing the operation of the seabed topography information updating system according to the present invention, the operation of the seabed topography confirmation system according to the present invention with reference to Figs.

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.

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.

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.

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.

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.

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.

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.

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)

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.

Accordingly, the lost underwater detector 100 can be easily found.

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, and the control unit 180 receiving the same, the marker The cylinder mechanism 161 of the device 160 is operated to move the piston 161b upwards, and to turn on the lamp 162.

As the piston 161b moves upward, the upper end of the piston 161b abuts on the second cover 115 of the detector body 110 as shown in FIG. 6, and the piston 161b continuously moves upward. The second cover 115 is moved upward. At this time, the second protrusion 115a of the second cover 115 is separated from the second catching part 114a of the lamp installation unit 114, and the lamp installation unit 114 is opened while the second cover 115 is opened. do. Therefore, as the lamp 162 is exposed to the outside as shown in FIG. 7, the light of the lamp 162 is emitted to the outside.

Accordingly, the manager can easily find the lost underwater detector 100 even in a dark place through the illumination of the lamp 162.

On the other hand, when the seabed topography check is completed, the underwater detector 100 should be moved to the probe 210.

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. 9. Subsequently, when the operator operates the lifting device 230 to release the lifting wire 231, the underwater detector 100 is seated on the probe 210.

As described above, the terrain change confirmation and the seabed topography information update system of the sea channel according to the present invention, even if the underwater detector 100 is separated from the probe 210 can support the underwater detector 100 on the water surface The lost underwater detector 100 can be easily found, and in particular, the underwater detector 100 can be easily found even in a dark place through the lamp 162.

A further embodiment according to the present invention is configured to improve the structure for connecting the buoyancy body 126 while maintaining the above-described configuration to facilitate the assembly and tightening operation, while maintaining the airtightness.

To this end, as illustrated in FIG. 10, a body nozzle NO included in the detector body 110 and a buoyancy body nozzle 1100 which are simultaneously assembled and inserted into the body nozzle NO are included.

At this time, the buoyancy body nozzle 1100 is a component constituting the buoyancy body installation portion 126b.

And, in order to facilitate mutual assembly, the front end of the body nozzle (N) has a cutting surface (T) cut to a predetermined depth, the body hook (H1) protrudes along the radial direction at the front end of the cutting surface (T) The first O-ring O1 is fitted on the rear cutting surface T of the body hook H1.

In addition, the inner space of the portion where the cutting surface (T) is formed is cut with a step in the same shape to form a first space (S1), the elastic fixing ring 1202 to be described later in the first space (S1), The pressing ring 1204 and the second O-ring O2 are sequentially inserted to achieve a double or triple sealing function.

In this case, the elastic fixing ring 1202, the pressing ring 1204, the second O-ring (O2), etc. are previously fitted on the buoyancy body nozzle (1100), the first space (S1) in the form as shown in the assembly As it is inserted into the sheet, it is compressed and adhered to secure close sealing property.

On the other hand, a fastening ring 1210 having a second space (S2) is provided on the outer peripheral surface of the length of the buoyancy body nozzle 1100 integrally with this.

In addition, a third O-ring O3 is inserted into the second space S2.

In particular, the fastening ring 1210 has a substantially 'C' cross-section, to form a third space (S3) which is another space, into the third space (S3) of the body nozzle (NO) The tip is inserted.

In addition, a nozzle hook (H2) having a shape opposite to the body hook (H1) protrudes on the inner circumferential surface of the fastening ring (1210), is coupled to the body hook (H1) to maintain a firm hook fixed state do.

Of course, since the fastening ring 1210 is a synthetic resin, the tip can be easily lifted by a sharp tool and elastically deformed. For this purpose, the body hook H1 and the nozzle hook H2 are arranged along a radial direction. Most preferably, they are formed three apart from each other at intervals of 120 °.

Therefore, during assembly, the elastic fixing ring 1202, the pressing ring 1204, and the second O-ring O2 are temporarily assembled to the buoyancy body nozzle 1100, and the tip of the buoyancy body nozzle 1100 is in the state. When pressurized while being inserted into the body nozzle NO, the body hook H1 and the nozzle hook H2 are hooked to each other to bind the two.

At this time, the pressing ring 1204 and the first, second, and third O-rings O1, O2, and O3 are elastically deformed under strong compressive force to closely connect the two.

In other words, the assembly structure according to the present invention is a complete one-touch structure, it is configured to be quickly and easily assembled and fixed simply by pressing.

In this way, the tip of the buoyancy body nozzle 1100 enters the body nozzle NO, and the tip of the body nozzle NO enters the third space S3 and has a structure that is engaged with each other.

In particular, in this process, the first, second, and third O-rings O1, O2, and O3 are elastically deformed to closely contact each other and completely close the gap.

As such, since the sealing structure is double or triple, the one-touch type has excellent airtightness, and it is convenient and quick to assemble and use.

100; Underwater detector 110; Detector body
120; Flotation device 130; Distance measuring unit
140; Location tracking device 150; Sending unit
160; Marker device 170; Water pressure sensor

Claims (1)

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 second lamp portion 114a which is opened upward and formed on the inner wall, and provided with an upper portion of the lamp mounting portion 114, and the second locking portion A detector body (110) having a second cover (115a) engaged with (114a) and having a second cover (115) for opening and closing the lamp installation unit (114); 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; A marking device 160 having a cylinder mechanism 161 installed on the lamp installation unit 114 and a lamp 162 mounted on the cylinder mechanism 161 to move up and down; 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 a hydraulic pressure signal from the hydraulic pressure sensor 170 to operate and control the flotation device valve 123 and the cylinder mechanism 161 according to each hydraulic pressure signal; 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 in the ship body 211, the operation is controlled by the control unit 250, made of an exploration apparatus 200 having an output unit 260 for displaying a seabed image;
The assembly structure between the detector body 110 and the buoyancy body 126 is
A body nozzle (NO) is provided on the detector body (110) side; Inner and outer diameters are cut to be stepped at the tip of the body nozzle (NO) to form a cutting surface (T) on the outer diameter, the first space (S1) is formed on the inner diameter; A plurality of body hooks H1 are formed on the cutting surface T at intervals in a radial direction; A tip of the buoyancy body nozzle 1100 connected to the buoyancy body 126 is inserted into the body nozzle NO; A portion of the inner diameter of the fastening ring 1210 having a third space S3 of the buoyant body nozzle 1100 having a third space S3 is integrally fixed to the outer diameter and the fastening ring of the buoyant body nozzle 1100 ( It is maintained to have a second space (S2) between the inner diameter of 1210; A nozzle hook (H2) having a shape opposed to the body hook (H1) protrudes from the distal end diameter of the fastening ring (1210); A third O-ring O3 is inserted into the second space S2; After the elastic fixing ring 1202, the pressing ring 1204, and the second O-ring (O2) are sequentially inserted into the front outer peripheral surface of the buoyancy body nozzle (1100), the fastening ring Terrain change confirmation and seafloor topographic information update system through the acoustic exploration, characterized in that the compression is fixed by the 1210.

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