KR101335513B1 - Apparatus for investigating the sea bottom comprising geomagnetic sensor - Google Patents

Abstract

An apparatus for exploring the ocean floor including a geo-magnetic sensor is disclosed. The apparatus comprises an upper frame which has an airplane shape in order to minimize surface resistance according to the resistance of ocean currents and seawater when moving inside the ocean floor and where multiple hollow holes are formed on the surface thereof; a lower frame which is coupled with the lower part of the upper frame, which includes a rectangular geo-magnetic sensor having a hollow hole inside thereof, where multiple hollow holes are formed on the surface thereof at regular intervals in order to minimize surface resistance according to the resistance of ocean currents and seawater when moving inside the ocean floor, and which is designed to facilitate submerging into the ocean floor; and a control unit which is mounted inside the upper frame in order to control the driving of the geo-magnetic sensor. The lower frame is coated with a waterproof film on the inside surface in order to prevent the geo-magnetic sensor from being in contact with seawater.

Description

Apparatus for investigating the sea bottom comprising Geomagnetic sensor

The present invention relates to a seabed exploration apparatus for checking the presence of a seabed resource such as gas hydrate or to investigate the seabed environment, and more particularly, to a seabed exploration apparatus having a geomagnetic sensor.

71 percent of the earth is sea, and 60 percent of the earth is deep sea of more than 1500 meters. Deep waters are a tremendous resource and are expected to provide clues to many of the problems of earth science. However, in the deep sea, the pressure increases by 1 atm with a 10-meter increase in depth, resulting in an extremely high pressure extreme condition of 600 atm at a depth of 6000 meters. In addition, the ocean changes frequently, making it difficult for light and radio waves to penetrate underwater, so land-based technologies cannot be applied directly to the underwater world.

Even with advanced science and technology where space development is realized, the deep sea remains an unknown world. Many countries have constantly challenged for deep sea exploration and have gained some visible results.

The unmanned submersible is an essential core equipment that is actually put into the deep sea site for sample and analysis for deep sea exploration and deep sea environment survey. They are currently working on the development of unmanned submersibles and offshore instrumentation with high technology.

In general, sunlight can't reach the oceans that are more than 200 meters deep. Therefore, it is known that life is hard to live in the deep sea and there is almost no life at the depth of more than 500 meters. However, deep sea exploration has revealed that rare creatures, including the deep sea creatures that we are familiar with, live in the deep sea. Marine biologists are studying how these organisms survive and form ecosystems in poor environments.

In the deep seas, for example, hot water spouts are scattered along the undersea volcano. The eluate in the form of dark clouds emerging from the hot water outlet is hot above 350 ℃. Shrimp, crab and shellfish along with tubeworms live in large colonies. Tubeworms are symbiotic bacteria that chemically break down sulfides from hot water outlets to provide nutrients. Normally, bacteria cannot live above 70 ° C, but the bacteria had a material that blocks heat. Deep sea biologists have discovered about 500 new creatures that have not been identified so far using manned and unmanned submersibles.

They are analyzing genomic maps of deep-sea creatures through genetic analysis. They are researching bacteria that are resistant to high temperatures, and are spurring research into new materials development, medicine, biology and biotechnology. In addition, research into the origin of human life and the possibility of life on the other planets of the universe by chemical synthesis are ongoing. Marine geologists study earthquake tectonic structures, explore undersea sources, and measure earthquake tectonic movements to predict earthquakes.

Deep sea unmanned submersibles drill samples from the bottom of the sea, use robotic arms to bury cables, and collect rocks from the sea floor. Until now, estimates of the reserves of subsurface underground resources have been explored remotely, but unmanned submersibles are needed for precise measurements. The unmanned submersible can accurately estimate resource reserves by measuring microgravity changes with an ultra-precise gravimeter close to the sea floor.

Deep sea unmanned submersibles are also used to find ships that sink to the bottom of the sea. It was possible that marine exploration technology and submersible technology developed until 73 years later, after the sinking of the Titanic, a well-known film, in the Atlantic Ocean. Dr. Robert Ballard of the Hushall Ocean Research Institute in the United States installed an underwater sound detector and a camera to view the seabed in an unmanned submersible, called sleigh-type Argo, and observed the seabed by connecting and towing the Argo to a long cable. We found the Titanic, which was hiding under the sea at 3810 meters. Dr. Ballard also explored the interior of the Titanic's cabin using a small remote-controlled unmanned submersible, called Jason Jr., from the manned submersibles and manned submersibles.

[Development Status of Unmanned Submersibles]

The first unmanned submersible was made by Dmitry Levikov in 1953 and was a cable-connected unmanned submersible poodle. Deep-water exploration equipment and submersible technology developed rapidly in 1966, recovering atomic bombs lost to the seabed in a plane crash and salvaging the former Soviet submarine that sank in 1968. Under the oil surge triggered by the aftermath of the Middle East war, the offshore oil field was developed since the late 70's, along with the development of a commercial unmanned submersible capable of subsea operation. In the 80's, the development of computer technology diversified the functions of the unmanned submersibles.

At this time, unmanned submarines with their own intelligence emerged. In addition to the United States, France, the United Kingdom, Canada, Japan, Russia, Norway, Sweden, Italy, Germany, Australia, and China have begun developing unmanned submersibles. Recently, various types of unmanned submersibles have been introduced to explore the 6,000-meter deep sea. . The U.S. U.S. Ocean Research and Development Institute (WHOI) developed Jason II and Medea to explore the depths of 6,500 meters in 2002 after the development of deep-sea unmanned submersibles Jason and Medea capable of exploring 6,000 meters in the early 1990s. It was. The JAMSTEC developed a deep-sea unmanned submersible Kaiko in 1997 to explore the depths of 11000 meters for the purpose of investigating the Mariana Trench.

In 1997, the French Maritime Research Institute developed the Vitor 6000, an unmanned submersible for 6,000 meter operation. Korea has been late in the development of unmanned submersible boats compared to advanced marine countries. However, based on the world's best shipbuilding technology, it is continuously developing marine equipment technology and unmanned submersible technology. In Korea, the first unmanned submersible in 1993 was the first time the Korea Maritime Research Institute developed the unmanned submersible CROV300 for underwater exploration. Daewoo Shipbuilding & Marine Engineering Co., Ltd. developed the Okpo6000 Autonomous Navigation Unmanned Submersible, which can explore the seabed in 1996.In 1997, Korea Ocean Research & Development Institute It was. In 2003, a semi-autonomous submersible unmanned submersible SAUV, which can be used as a civilian service, was jointly developed by Korea Maritime Research Institute and Daeyang Electric Co., Ltd.

[Motion Control of Unmanned Submersible]

Unmanned submersibles (hereinafter referred to as 'underwater exploration / development bodies') shall be equipped with propellers at appropriate positions depending on the direction of movement. That is, there must be at least one left and right direction thruster for left and right movement, at least one forward and backward direction thruster for back and forth movement, and at least one vertical thruster for vertical movement. In addition, horizontal rotational movement requires at least two lateral or forward and backward thrusters. At this time, the underwater exploration / development movement is carried out by a command given by the water user. Commands for effective underwater exploration / development motion control combine manual and automatic control.

On the other hand, in the prior art unmanned submersible or underwater exploration / development body has a large size and a lot of weight is expensive to produce.

Accordingly, the present invention is to be integrated with the geomagnetic sensor, but to provide a subsea exploration device that can be moved while minimizing the resistance of the current while having a light weight.

Patent Registration No. 10-11950590 Korean Patent Publication No. 10-2009-0055120 Patent Registration No. 10-1048528 Korean Patent Publication No. 10-2009-0069536 Korean Patent Publication No. 10-2009-00074547

An object of the present invention is to provide an unmanned submarine probe equipped with a geomagnetic sensor that can maintain its own balance while minimizing the resistance of the ocean current irregularly generated during seabed exploration.

Other objects and advantages of the present invention will be described hereinafter and it is to be understood that the same is by way of illustration and example only and is not to be taken by way of limitation, .

In order to solve the above problems, a seabed probe having a geomagnetic sensor according to an embodiment of the present invention is formed in a plane shape to minimize surface resistance due to current and resistance of seawater when moving in a deep seabed, and a plurality of holes are provided on the surface. An upper frame 200 formed; It is fastened to the lower portion of the upper frame, the inside is provided with a rectangular geo-magnetic sensor (Geo-magnetic Sensor; 400), a plurality of holes are formed on the surface at regular intervals, when moving in the deep sea bottom of sea currents and sea water A lower frame 300 designed to easily submerge into the deep sea bottom by minimizing surface resistance according to resistance; And a control unit 500 mounted in the upper frame 200 to control driving of the geomagnetic sensor 400, wherein the upper frame 200 is connected to the vessel 700 through a towing cable L. In addition, the lower frame 300 is characterized in that the waterproof film is coated on the inner surface to block the contact of the geo-magnetic sensor (Geo-magnetic Sensor; 400).

The upper frame 200 is formed in a ladder structure, the front end is formed to have a right triangular shape, the first side support 210 and the second side surface is formed with a plurality of hollows on the surface to minimize the surface friction resistance received from the current Support 211; And a rectangular frame disposed at regular intervals between the first side support 210 and the second side support 211, and vertically fastened to the first side support 210 and the second side support 210. And a plurality of central supports 212 having a shape, wherein inner surfaces of the first side supports 210 and the second side supports 211 are fastened to each of the plurality of central supports 212. A plurality of fastening lines 210b having fastening holes are formed.

The lower frame 300 is positioned above and below the geo-magnetic sensor 400 and includes a rectangular support frame 310 having a plurality of holes formed on a surface thereof, and the support frame 310. The inner surface is characterized in that the waterproof membrane is coated to block the contact of the geo-magnetic sensor (Geo-magnetic Sensor) 400 and sea water.

The support frame 310 is formed of a fiber glass material, characterized in that less twist or vibration.

The geomagnetic sensor 400 includes a housing 410 formed in a rectangular shape having a hollow; A transmission coil 412 wound around the outside of the housing 410 a plurality of times to form a primary magnetic field; A connection frame 411 coupled to both ends of a center of the housing 410; A receiving coil 413 which is installed in a circular space of the connection frame 411 and detects a magnetic field strength of a secondary magnetic field formed on the sea bottom by the primary magnetic field; And a distance extending from the transmission coil 412 to the outer circumferential surface of the reception coil 413 through the connection frame 411 and spaced apart from the magnetic field strength detected by the reception coil 413. It characterized in that it comprises a bucking coil 414 for canceling the contribution of the magnetic field.

The bucking coil 414 is disposed to be spaced apart from the transmitting coil 413, and induces a current in a direction opposite to the current direction of the transmitting coil 413 to cancel the contribution of the primary magnetic field. It is characterized in that it is provided on the outside.

The housing 410 and the connection frame 411 are formed of a fiber glass material, and the twist and vibration are suppressed by an external impact.

The control unit 500 is provided in the upper frame 200, the pressure-resistant container 510, a plurality of watertight holes 520 is formed at one end; And a control circuit board 511 provided in the pressure resistant container 510, wherein the control circuit board 511 is inserted into the pressure resistant container 510 through the watertight hole 520. ), The receiving coil 413, the reference coil 415 is characterized in that it is connected.

The subsea exploration device having a geomagnetic sensor according to the present invention has the advantage of maintaining its own balance while minimizing the resistance of the ocean current irregularly generated during seabed exploration.

Other effects of the present invention, as well as the matters described in the above-described embodiments and claims of the present invention, as well as potential effects that may occur within the range that can be easily estimated therefrom and potential advantages that contribute to industrial development It will be added that it will be covered by a wider scope.

1 is a perspective view showing a seabed probe having a geomagnetic sensor according to an embodiment of the present invention.
Fig. 2 is a side view of Fig. 1; Fig.
Figure 3 is a front view of Figure 1;
4 is a perspective view of the upper frame of FIG.
5 is an exploded perspective view of the lower frame of FIG. 1;
6 is an exemplary view showing a control unit shown in FIG. 1.
7 is an actual state diagram of FIG. 6.
8 is a control circuit board provided in FIG.
FIG. 9 is an exemplary view showing a connection relationship between a ship and a seabed exploration apparatus equipped with a geomagnetic sensor of FIG. 1; FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a detailed description of preferred embodiments of the present invention will be given with reference to the accompanying drawings. In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

Embodiments in accordance with the concepts of the present invention can make various changes and have various forms, so that specific embodiments are illustrated in the drawings and described in detail in this specification or application. However, this is not intended to limit the embodiments in accordance with the concept of the present invention to a particular disclosed form, it should be understood to include all changes, equivalents, and substitutes included in the spirit and scope of the present invention.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be. On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between. Other expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, the terms "comprises ",or" having ", or the like, specify that there is a stated feature, number, step, operation, , Steps, operations, components, parts, or combinations thereof, as a matter of principle.

Hereinafter, a seabed terrain exploration device equipped with a geomagnetic sensor used in seabed terrain exploration according to an embodiment of the present invention will be described in detail.

1 is a perspective view showing a seabed probe having a geomagnetic sensor according to an embodiment of the present invention.

Fig. 2 is a side view of Fig. 1; Fig.

3 is a front view of FIG. 1;

4 is a perspective view of the upper frame of FIG.

5 is an exploded perspective view of the lower frame of FIG. 1;

6 is an exemplary view showing a control unit shown in FIG. 1.

7 is an actual state diagram of FIG. 6.

8 is a control circuit board provided in FIG.

FIG. 9 is an exemplary view showing a connection relationship between a ship and a seabed exploration apparatus equipped with a geomagnetic sensor of FIG. 1; FIG.

As shown in Figures 1 to 5, the subsea detection device 100 with a geomagnetic sensor of the present invention, the upper frame 200, the lower frame 300 and the control unit 500 mounted with a geomagnetic sensor 400 It includes.

The upper frame 200 is formed in a plane-shaped structure to minimize the surface resistance according to the current and resistance of the seawater when moving in the deep sea bottom, a plurality of holes are formed on the surface. In addition, the upper frame 200 is provided with a hook portion 217 to be connected to the vessel 700 through the towing cable 710 on the top.

More specifically, one end has a slope to minimize the resistance of the current when moving in the seabed, more specifically, the first side support 210, the second side support 211, a plurality of central supports 212 And tail wings 213.

The first side support 210 and the second side support 211 is formed in the same shape, the front end (A) is formed to have a ladder structure having a triangular shape, a plurality of holes (210a, 211a) on the surface Are formed. Such a structure may be a structure that allows the current to flow smoothly when moving into the sea floor while minimizing frictional force received from the current. In the present invention, the first and second side supports 210 and 211 are manufactured in the form of a ladder, but the present invention is not limited thereto, and any structure capable of minimizing frictional force received from currents will be possible.

In addition, a plurality of fastening lines 210b formed to be engaged with each of the plurality of central supports 212 are formed on the surface where the first side support 210 and the second side support face each other. .

Each of the plurality of fastening lines 210b is provided with a plurality of fastening holes, and fastened with the central support 212 through fastening members (eg, bolts).

Each of the plurality of central supports 212 is formed in a rectangular frame shape to be fastened in a vertical direction with the first side support 210 and the second side support 210. The shape within the rectangular frame may be formed in a polygonal structure.

In the present invention, the shape in the rectangular frame is formed in an octagonal structure, but such a shape is not limited.

The tail wing 213 is located above the upper frame 200, and functions as a helmman when moving undersea. In addition, the tail wing 213 may be manufactured to be movable left and right.

Next, the lower frame 300 is fastened to the lower portion of the upper frame, a rectangular geomagnetic sensor (Geo-magnetic Sensor) having a hollow therein, a plurality of holes are formed on the surface at regular intervals, When moving in the deep sea bed is designed to facilitate the submersion into the deep sea bed by minimizing the surface resistance according to the current and resistance of the sea water.

More specifically, the geomagnetic sensor 400 is mounted therein, but is mounted with the upper frame 200 to form a rectangular shape in which a plurality of holes are formed so as to minimize buoyancy due to the current.

The lower frame 300 includes a support frame 310 and a geomagnetic sensor 400.

The support frame 310 may be positioned on the top and bottom of the geomagnetic sensor 400, respectively, and may have a rectangular shape in which a plurality of holes 311 are formed at regular intervals on a surface thereof.

The plurality of holes 311 are formed to be symmetrically arranged at the same size and at the same interval on the left and right of the support frame, it is possible to maintain the left and right balance when moving on the seabed.

Here, the material of the support frame 310 is preferably a glass glass material (twist), no vibration, and can give the required rigidity (rigidity).

The geomagnetic sensor 400 includes a housing 410, a connection frame 411, a transmitting coil 412, a receiving coil 413, a bucking coil 414, and a reference coil 415. .

The housing 410 is hollow and has a rectangular shape, and the transmission coil 412 is arranged such that a magnetic field is generated around the outside of the housing 410. In this case, the transmission coil 412 may be a sub coil coil wound around the housing 410 a plurality of times in order to maintain proper transmission power in a marine environment where electromagnetic wave attenuation is very severe.

Here, if the housing 410 is a solid rectangular shape, since a problem arises in descending to the sea bottom due to positive buoyancy, it is preferable to use a hollow type in which sea water can flow.

The connection frame 411 is fastened to both ends of the center of the housing 410, and is located at the center of the housing 410, and the receiving coil 413 has a primary magnetic field generated by the transmission coil 412. It is positioned in a circular space formed in the center of the connecting frame 411 to detect the secondary magnetic field formed by the eddy current reflected on the bottom surface.

Here, the bucking coil 414 is positioned in addition to the receiving coil 413 in the circular space of the connection frame 411. The bucking coil 414 is spaced apart from the outer circumferential surface of the receiving coil 413 by a predetermined interval. A function of canceling the contribution of the primary magnetic field from the magnetic field strength detected by the receiving coil 413 is performed.

The bucking coil 414 is integrated with the transmitting coil 412 but is provided on the outside of the receiving coil 413 so that the current flow is reversed to cancel the contribution of the primary magnetic field.

The bucking coil 414 is provided to be disposed around the central portion of the connecting frame via the periphery of the housing 410, and the reference coil 415 is arranged at one side of the bucking coil. Preferably, the reference coil 415 is disposed spaced apart from the buckling coil 414 by a predetermined interval.

When the power supplied to the transmission coil 412 is unstable, the reference coil 415 monitors the change in the transmission coil 412 and monitors the change in the primary magnetic field when a change occurs. Perform the function of offsetting.

Here, the material of the housing 410 and the connecting frame 411 is preferably glass fiber. Here, the reason for using the glass fiber may be to give less rigidity and less twist or vibration.

Here, the support frame 310 and the housing 410 of the geomagnetic sensor may be bonded using an epoxy resin, or may be coupled by a fastening method using bolts and nuts.

The controller 500 is mounted in the upper frame to control the driving of the geomagnetic sensor.

More specifically, the control circuit board for controlling the geomagnetic sensor 400 is provided therein, the pressure-resistant container is provided on the outside so that sea water is not drawn into the control circuit board 550.

One end of the pressure resistant container 510 is the control circuit board inside the pressure resistant container in a state in which a plurality of coils connected to the transmission coil, the reception coil, and the reference coil are sealed by an O-ring connected to the cover member 540. A plurality of watertight holes 520 may be formed to be connected to the 550, and a power cable may be connected thereto.

Here, each of the transmission coil, the reception coil, and the reference coil is coated on the transmission coil connection line, the reception coil connection line, and the reference coil connection line.

In addition, the control unit 500 may be fixed through a fixing unit surrounding the side of the pressure-resistant container 510 to be fixed in the upper frame 200. The fixing part may be bonded to the upper frame 200 with an epoxy resin or may be coupled through a fastening method using bolts and nuts.

In addition, the upper frame 200 and the lower frame 300 of the present invention is bonded by epoxy resin, or coupled by a fastening method using a bolt and nut.

On the other hand, the unmanned submarine exploration apparatus 100 of the present invention may be installed a camera for taking a picture of the surrounding image (taken in the form of a still image), and may also be installed an underwater video camera for recording and recording a video. Here, the underwater video camera means various known video recording apparatuses including a camcorder and the like.

With a camera or video camera as described above can not only obtain a variety of information, but also improve the accuracy of the exploration.

In addition, when used for the exploration to find gas hydrates, the camera or video camera is provided so that methane gas is generated or a group of living organisms using mounds or methane gas formed on the sea floor due to methane gas emission phenomenon. You can shoot the situation as a still image or movie.

In addition, the seabed exploration apparatus 100 of the present invention may further install a lighting device on the upper frame 200, when a camera or a video camera is installed, the lighting device is further required, the lighting device is a camera or video It is desirable to install in a form that can illuminate the area photographed by the camera.

In addition, the present invention may include a variety of measuring devices to measure the various things that can be observed in the seabed.

More specifically, it can be implemented in the form having a methane gas meter for detecting the concentration of methane gas around the place where the seabed exploration apparatus of the present invention is located.

In addition, a temperature measuring device for measuring the temperature of the seawater may be additionally installed.

In addition, a salinity meter to measure the salinity of seawater can be installed.

In addition, it may be provided with a depth gauge for measuring the depth of the place where the unmanned subsea exploration device is located.

The memory is mounted in the control circuit board provided in the control unit in order to collect data measured from various measuring instruments.

The memory may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (eg SD or XD memory, etc.), RAM At least one type of Access Memory (RAM), Static Random Access Memory (SRAM), ReadOnly Memory (ROM), Electrically Erasable Programmable ReadOnly Memory (EEPROM), Programmable ReadOnly Memory (PROM) magnetic memory, magnetic disk, or optical disk. It may be a storage medium.

Therefore, the subsea exploration device 100 equipped with a geomagnetic sensor according to the present invention is composed of an upper frame formed in an airplane shape and a lower frame mounted with a geomagnetic sensor fastened to the lower end of the upper frame, and moves in a deep seabed. Since the frictional resistance due to the current flow through the upper frame is minimized, it is easy to move in the seabed, and buoyancy can be minimized through the hollow formed on the lower frame surface, so that the subsea exploration device of the present invention is easily submerged into the seabed.

In addition, as the geomagnetic sensor is mounted in the lower frame, it is possible to maintain constant durability by reducing wear due to external resistance generated by seawater or currents.

The foregoing detailed description is illustrative of the present invention. It is also to be understood that the foregoing is illustrative and explanatory of preferred embodiments of the invention only, and that the invention may be used in various other combinations, modifications and environments. And, it is possible to change or modify within the scope of the concept of the invention disclosed in this specification, the scope equivalent to the written description, and / or the skill or knowledge in the art.

The above-described embodiments are intended to explain the best state in carrying out the present invention, the use of other inventions such as the present invention in other states known in the art, and the specific fields of application and uses of the invention. Various changes are also possible. Accordingly, the foregoing description of the invention is not intended to limit the invention to the precise embodiments disclosed. It is also to be understood that the appended claims are intended to cover such other embodiments.

100: subsea exploration device
200: upper frame 212: center support
210: first side support 210a, 211a: hole
210b: fastening line 211: second side support
213 tail wings 217
300: lower frame 310: support frame
311: Hall 400: geomagnetic sensor
410: housing 411: connecting frame
412: transmitting coil 413: receiving coil
414: bucking coil 415: reference coil
500: control unit 510: pressure-resistant container
520: watertight hole 530: fixed part
540; Cover member 550: control circuit board
700: ship A: leading edge

Claims (8)

The upper frame 200 is formed with a plurality of holes on the surface and connected to the vessel 700 through the towing cable (L) to minimize the surface resistance according to the resistance of the current and sea water when moving in the deep sea bottom;
A lower frame 300 fastened to a lower portion of the upper frame and provided with a rectangular geo-magnetic sensor 400 having a hollow therein, and having a plurality of holes formed at regular intervals on a surface thereof; And
And a controller 500 mounted in the upper frame 200 to control driving of the geomagnetic sensor 400.
The upper frame 200,
The front end is formed of a ladder structure having a right triangle shape, a plurality of holes are formed on the surface to minimize the surface frictional resistance received from the current, and the same side-shaped first side support 210 is spaced apart at regular intervals ) And second side support 211; And
Between the first side support 210 and the second side support 211 is disposed spaced apart at regular intervals along the longitudinal direction of the first side support 210 and the second side support 211, And a plurality of central supports 212 having a rectangular frame shape which is fastened in a vertical direction to each of the first side support 210 and the second side support 211.
A plurality of fastening lines 210b are formed on the surfaces of the first side support 210 and the second side support 211 that face each other, and a plurality of fastening lines 210b are fastened to each other. Each 210b is formed with a plurality of fastening holes and fastened with the central support 212 through a fastening member.
The lower frame 300,
Wherein the geomagnetic sensor (Geo-magnetic sensor) includes a rectangular support frame 310 which is located on the top and bottom of each of the plurality of holes formed on the surface,
The inner surface of the support frame 310 facing each other is coated with a waterproof film to block the contact of the geo-magnetic sensor (400) and sea water,
The plurality of holes 311 formed in the support frame 310 are symmetrically arranged at the same size and at equal intervals on the left and right sides of the support frame so as to maintain left and right balance when moving on the seabed. Exploration device.
delete delete The method of claim 1,
The support frame 310,
An undersea exploration device having a geomagnetic sensor, which is formed of a fiber glass material and has less twist or vibration.
The method of claim 1,
The geomagnetic sensor (400),
A housing 410 formed in a rectangular shape having a hollow;
A transmission coil 412 wound around the outside of the housing 410 a plurality of times to form a primary magnetic field;
A connection frame 411 coupled to both ends of a center of the housing 410;
A receiving coil 413 which is installed in a circular space formed at the center of the connection frame 411 and detects the magnetic field strength of the secondary magnetic field formed on the sea bottom by the primary magnetic field;
The primary magnetic field is extended from the transmission coil 412 so as to be spaced apart from the outer circumferential surface of the receiving coil 413 through the connecting frame 411 and to be detected by the receiving coil 413. A bucking coil 414 for canceling the contribution of; And
A reference coil 415 installed on the connection frame 411 and spaced apart from the bucking coil 414 to cancel the change of the primary magnetic field;
Undersea exploration apparatus having a geomagnetic sensor comprising a.
The method of claim 5,
The bucking coil 414,
It is disposed spaced apart from the transmitting coil 413, characterized in that provided to the outside of the receiving coil to induce a current in a direction opposite to the current direction of the transmitting coil 413 to cancel the contribution of the primary magnetic field Submarine exploration device with geomagnetic sensor.
The method of claim 5,
The housing 410 and the connection frame 411,
Submarine exploration apparatus having a geomagnetic sensor, characterized in that the twisted (vibration) and vibration is suppressed by the external impact formed of a glass fiber (fiber glass) material.
The method of claim 5,
The control unit 500,
A pressure-resistant container 510 provided in the upper frame 200 and having a plurality of watertight holes 520 at one end thereof; And
And a control circuit board 511 provided in the pressure resistant container 510.
The control circuit board 511 is,
Subsea with geomagnetic sensor characterized in that it is connected to the transmission coil 412, the receiving coil 413, the reference coil 415 introduced into the pressure-resistant container 510 through the watertight hole 520. Exploration device.

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