KR102458475B1 - Observation system for seabed by the sonar - Google Patents

Abstract

The present invention relates to a measurement system for a waterway topographic change by means of sound detection, which is characterized by comprising: two sound wave output devices which are distributed and installed at a seabed topography; a sound wave detector including a receiving module to wirelessly receive a sound wave; a location information calculation module which acquires numerical data to identify the seabed topography; a database which stores in a state of being separated from the previous location information of the correspondent sound wave output device; a control unit which monitors and controls the entirety; a display unit which outputs in a state of being separated at each acquired point of time of the location for each sound wave output device; and a picturing module which illustrates the topography of the seabed surface at which the correspondent sound wave output devices are installed in an image. Therefore, provided is the measurement system for a waterway topographic change by means of sound detection, wherein mobility is provided at the sound wave output device by means of the driving unit and the moving and fixing unit. The present invention can widen the area covered by one sound wave output device, thereby improving economic feasibility and efficiency as well as resolving communication disruption caused by obstacles.

Description

Waterway topographic change survey system through acoustic exploration {Observation system for seabed by the sonar}

The present invention relates to a waterway topography change surveying system through acoustic exploration.

In general, when fishing in the sea, construction of offshore buildings, military operations and port navigation, etc., paper charts, electronic charts, and various electronic observation equipment are used to obtain information on the topography of the seabed. For example, in the construction of offshore structures, a correct understanding of the irregularities of the seabed topography is the starting point for offshore structure design, and from this, the height of the offshore structure, the shape of the underside of the structure, the vertical positioning of the ship berthing facility, and the range of anti-corrosion design can be determined. can be determined, and also the topographical stability of offshore structures can be verified.

For this purpose, the most widely used method so far is to obtain information on the seabed topography, such as seawater, using a sonar or an acoustic detector. This method corresponds to a method in which a sonar is installed on a ship, transmits sound waves from near the sea level toward the sea floor, and then receives the reflected sound waves from the sea floor to obtain necessary information. However, this method is greatly hampered by waves at the sea level and sound wave reflections of fish or aquatic organisms, and accordingly, it takes a long time to repeat the exploration work several times. There is a difficulty that occurs frequently. In addition, in order to obtain relatively accurate data on the change of the seabed topography, it is necessary to repeat the transmission and reception of sound waves at a relatively constant position with respect to the corresponding subsea topography. Since it is a method of moving to this exploration location and returning to the port after exploration, it is practically impossible to transmit sound waves by locating the sonar at the same location as during the previous exploration based on the same subsea topography. Therefore, as a result, there is a problem in that it is difficult to obtain change data of the seabed topography.

Therefore, by distributing sound wave output devices on the sea floor and then receiving signals for each sound wave output device separately, the topographical change state of the sea floor is relatively accurately identified through analysis of data with continuity over a relatively long period of time, and then It is necessary to develop a topographical change surveying system for seawater by acoustic exploration that can be utilized. As a prior art according to such a request, there is Patent Registration No. 10-1492863, but the prior art has a problem in that an error occurs in communication when the area covered is narrow and obstacles exist because the sound wave output device does not have mobility.

The technical problem to be achieved by the technical idea of the present invention is to improve the efficiency of unloading and lifting, and to provide a waterway topographical change surveying system through acoustic exploration that solves communication errors by moving locations when obstacles exist.

In addition, it is an object to provide a waterway topographical change surveying system through acoustic exploration capable of surveying seafloor topographic information in a state in which the sound wave output device is stably fixed to the seabed.

A waterway topography change surveying system through acoustic exploration according to an aspect according to the technical idea of the present invention is installed distributed in the seabed topography and wirelessly transmits unique sound waves that are separated from each other toward the sea level, and two sound waves that are combined or separated from each other A sonar including an output device, a receiving module for wirelessly receiving a sound wave transmitted from the sonar output device, analyzes the sound wave information received from the sonar, and calculates based on the GPS location information of the mother in which the sonar is installed A location information calculation module that confirms the relative location information of the sonar, and obtains numerical data for recognizing a seabed topography using the identified location information of a plurality of the sound wave output devices, obtained through the location information calculation module The location information of each sound wave output device is matched to the corresponding sound wave output device for each sound wave output device and stored in an allocated area, but is distinguished from the previous location information of the corresponding sound wave output device whenever the location information of the location information calculation module is acquired A database that stores the data, a control unit that monitors and controls the whole by detecting the location information of the database and outputting it to the display unit so that it can be displayed separately for each sound wave output device, and the position of the sound wave output device according to the output signal of the controller Based on the location information of the sound wave output device outputted through the display unit and the control unit that divides information for each sound wave output device and outputs the information in a state differentiated at each acquisition time point of the location information for each sound wave output device, the corresponding sound wave It includes a drawing module showing the topography of the seabed in which the output device is installed as an image, and each of the two sound wave output devices is installed in a main body part and each corner of the main body part to move the main body part on the seabed or to the sea floor A plurality of moving fixing parts fixed to the upper and lower moving parts, rotating in the left and right directions, and a driving part for rotating in the up and down directions, installed on one side of the main body part, the main body of each of the two sound wave output devices A coupling part for coupling the parts to each other, installed on one side of the main body part, and the position of the other sound wave output device A position sensing unit for sensing and a movement control unit for controlling the operation of the movement fixing unit, the driving unit, the coupling unit and the position sensing unit, wherein the driving unit includes a vertical rotation unit for rotating the movement fixing unit, the vertical rotation unit by rotating the A horizontal rotation part installed on the body part and a horizontal rotation part for allowing the movable fixing part to rotate in the left and right direction with respect to the main body part, the horizontal rotation part being coupled to the end part, and a lifting part for allowing the horizontal rotation part to be raised and lowered with respect to the body part, , The lowermost end of the movable fixing part is positioned higher than the lowermost end of the main body in a state in which the lifting part raises the horizontal rotation part to the maximum, and the movable fixing part is coupled to the vertical rotation part, and a plurality of installed spaced apart at a certain angle. It is made in the shape of a rotating stick and a rod, is installed so as to be accommodated and protruded in any one of the plurality of rotating sticks, and includes a fixing protrusion protruding from the rotating stick to fix the main body to the seabed, and the movement control unit , When the two sound wave output devices are positioned on the sea floor in a state in which they are coupled to each other, the moving fixed part located at the end of each of the two sound wave output devices among the plurality of moving fixed parts is lowered in the opposite direction to each other to rotate and protrude the fixing protrusion, and then lower the movable fixing part located in the inner part of each of the two sound wave output devices among the plurality of movable fixing parts, and then rotate in opposite directions to protrude the fixing projection.

According to an exemplary embodiment, the position sensing unit includes a base unit rotatably coupled to the upper side of the body unit, a laser transmitting unit installed outside the base unit to irradiate a laser to the outside, and another sound wave output device receiving the laser. It may include a laser receiver for detecting the position of.

According to an exemplary embodiment, the coupling part is a docking part rotatably coupled to the side surface of the body part in the vertical direction, a magnetic part installed on the outer surface of the docking part, is installed to be received and protruded from the docking part, and is installed on the side surface A docking stick having a separation prevention groove formed therein, an insertion portion formed to be drawn in from the docking portion to a size corresponding to the docking stick, and a docking stick of another sound wave output device installed to communicate with the insertion portion inside the docking portion When it is inserted into the insertion part, it may include a separation prevention protrusion that is inserted into the separation prevention groove of the docking stick.

According to an exemplary embodiment, the movement control unit, when the two sound wave output devices are located on the sea floor in a state separated from each other, lowering the plurality of moving fixing parts of the sound wave output device in the opposite direction to each other After rotating, the fixing protrusion may protrude.

The features and advantages of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings.

Prior to this, the terms or words used in the present specification and claims should not be construed in their ordinary and dictionary meanings, and the inventor may properly define the concept of the term in order to best describe his invention. It should be interpreted as meaning and concept consistent with the technical idea of the present invention based on the principle that it is possible.

Since the waterway topography change surveying system through acoustic exploration according to embodiments according to the technical idea of the present invention can grasp the seabed topography using two sound wave output devices, a waterway topography change surveying system using one sound wave output device Compared to , it is possible to more quickly identify the tidal terrain.

In addition, the two sound wave output devices may be coupled to each other by a coupling unit to be unloaded or lifted from a probe (not shown) at a time. Therefore, the unloading and lifting operations can be carried out quickly and smoothly compared to the existing waterway topography change surveying system that unloads or lifts the sound wave output device one by one.

And, the waterway terrain change surveying system through the acoustic exploration according to the present embodiment can impart mobility to the sound wave output device by using the driving unit and the moving fixed unit. Conventionally, since the sound wave output device is of a fixed type, the area that can be covered by one sound wave output device is limited. Since it can be effectively widened, economy and efficiency can be improved.

In addition, when an error occurs in communication between the sound wave output device and the sonar due to an obstacle, the communication error may be solved by changing the location of the sound wave output device.

In addition, it is possible to quickly survey the seabed topography by selectively using one or two sound wave output devices according to various situations such as flow velocity or measurement range.

In order to more fully understand the drawings recited in the Detailed Description of the Invention, a brief description of each drawing is provided.
1 is a block diagram for explaining a waterway topography change surveying system through acoustic exploration according to an embodiment of the present invention.
2 is a perspective view illustrating a sound wave output device.
3 is a diagram illustrating a state in which two sound wave output devices are coupled to each other.
FIG. 4 is a view showing a state in which the two sound wave output devices of FIG. 3 are positioned on the seabed.
5 is a diagram illustrating a process in which the two sound wave output devices of FIG. 4 are separated from each other on the seabed.
FIG. 6 is an exploded perspective view showing a driving unit and a moving fixing unit included in the sound wave output device of FIG. 2 .
7 is a view from above that the main body is moved in the front-rear direction by the driving unit and the moving fixing unit.
8 is a view from above when the main body is rotated in place by the driving unit and the moving fixing unit.
9 is a view showing a state in which the moving fixing unit is coupled to the vertical rotating unit according to the modified example.
10 to 15 are diagrams illustrating a process in which two sound wave output devices are seated and fixed on the seabed.
16 and 17 are views illustrating a process in which one sound wave output device is fixed to the seabed.

The objects, specific advantages and novel features of the present invention will become more apparent from the following detailed description and examples taken in conjunction with the accompanying drawings. In the present specification, in adding reference numbers to the components of each drawing, it should be noted that only the same components are given the same number as possible even though they are indicated on different drawings. Also, terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. In addition, in describing the present invention, if it is determined that a detailed description of a related known technology may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.

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

1 is a block diagram for explaining a waterway topography change surveying system through acoustic exploration according to an embodiment of the present invention. Hereinafter, with reference to this, a waterway topography change surveying system through acoustic exploration according to the present embodiment will be described.

As shown in FIG. 1, the waterway terrain change surveying system through acoustic exploration according to this embodiment includes two sound wave output devices (1000A, 1000B, see FIG. 3), a sonar (2000), and a location information calculation module (3000). , a database 4000 , a control unit 5000 , a display unit 6000 , and a drawing module 7000 .

The sound wave output device 1000 is a member that is distributed at regular intervals on the seabed and transmits distinct sound wave (acoustic) signals toward the sea level, and may be composed of a plurality of members. The sound wave output device 1000 may be two, and the two sound wave output devices 1000A and 1000B (see FIG. 3 ) may be combined or separated from each other. The two sound wave output devices 1000A and 1000B (refer to FIG. 3 ) form a pair and may be loaded on a probe (not shown). A detailed description of a process in which the two sound wave output devices 1000A and 1000B (see FIG. 3 ) are coupled or separated from each other on the seabed will be described later.

Here, the sound wave output device 1000 may include a sound wave output module 1100 and a sound wave output control unit 1200, and the sound wave output module 1100 is a member for outputting sound waves and is set by the sound wave output control unit 1200. It is possible to periodically output a natural sound wave according to a certain period and transmit it to the sea level. In addition, the sound wave output control unit 1200 may be configured to control the overall operation of the sound wave output device 1000 as well as the sound wave output period of the sound wave output module 1100 and the sound wave output module 1100 .

The sonar 2000 may include a receiving module 2100 for receiving a signal of a sound wave (sound) transmitted from the sound wave output device 1000 . Here, as the sonar 2000, a conventional sonar (SONAR; Sound Navigation And Ranging) may be used, and the sonar 2000 further includes a transmitting module (not shown) for transmitting sound waves in addition to the receiving module 2100. can do. At this time, the sound wave output device 1000 may include and transmit time information (TIME STAMP) at which the sound wave signal is transmitted (output) by the built-in program, and the sound wave (sound) signal received by the sonar 2000. As a method of analyzing , known techniques, that is, analysis of transmission time and reception time information, or analysis using the speed at which sound waves propagate in water, can be used.

The location information calculation module 3000 analyzes the sonar information received from the sonar 2000 and calculates based on the GPS location information of the mother in which the sonar 2000 is installed, and confirms the relative location information of the sonar 2000, and , by using the identified location information of the plurality of sound wave output devices 1000, it is possible to obtain numerical data for identifying the seafloor topography.

The database 4000 matches the location information obtained through the location information calculation module 3000 by the control and monitoring of the controller 5000 to the corresponding sound wave output device 1000 for each sound wave output device 1000, and is an allocated area It is stored in the , and each time the location information of the location information calculation module 3000 is acquired, it can be stored in a state distinguished from the previous location information of the corresponding sound wave output device 1000 .

The control unit 5000 detects the location information of the database 4000 and outputs it to the display unit 6000 so that it can be displayed separately for each sound wave output device 1000, and the entire system can be monitored and controlled.

The display unit 6000 classifies the location information of the sound wave output device 1000 for each sound wave output device 1000 according to the output signal of the control unit 5000 and at the same time, for each sound wave output device 1000, each time the location information is acquired It can be printed in a separate state. At this time, the display unit 6000 divides and displays the location information of each sound wave output device 1000 by the acquisition time by the corresponding control signal of the control unit 5000, and simultaneously displays with a difference in color or a predetermined time set It may be displayed as a moving picture based on , or may be displayed sequentially according to an input control signal, and may be displayed in a generally understandable manner.

The drawing module 7000 may show the topography of the seabed where the sound wave output devices 1000 are installed as an image based on the location information of the sound wave output devices 1000 output through the control unit 5000 .

In this way, a plurality of sound wave output devices 1000 installed at regular intervals on the seafloor transmits a unique sound wave that can be identified for each sound wave output device 1000 and receives them from the sonar 2000, so that each sound wave output device 1000 Since it can be analyzed and used separately, the topographical change state of the seafloor where the sound wave output device 1000 is installed can be relatively accurately grasped through the analysis of data having continuity over a relatively long period of time. This information is used as information for fishing operations, marine construction construction, military operations and port navigation, etc., and can be used to produce relatively accurate electronic charts and paper seabed maps. Here, when each sound wave output device 1000 transmits the same sound wave (sound) signal, each sound wave output device 1000 includes a unique number for identifying itself in the sound wave (sound) signal and outputs (transmits) it. have.

2 is a perspective view illustrating a sound wave output device, and FIG. 3 is a view showing a state in which two sound wave output devices are coupled to each other. Hereinafter, the sound wave output device 1000 will be described with reference to this.

2 and 3 , each of the two sound wave output devices 1000 is, for example, a body unit 1300, a plurality of movable fixing units 1400, a driving unit 1500, a coupling unit 1600, and position sensing. It may include a unit 1700 and a movement control unit 1800 .

The main body 1300 has a substantially hexahedral shape and can accommodate a sound wave output module 1100, a sound wave output control unit 1200, and the like therein. In addition, a driving unit 1500 , a coupling unit 1600 , a position sensing unit 1700 , and a movement control unit 1800 , which will be described later, may be coupled to the main body 1300 .

A connection ring 1320 may be formed on the upper side of the main body 1300 . A cable (C) installed on a probe (not shown) and used for lifting and unloading may be coupled to the connecting ring (1320).

The movable fixing unit 1400 may be positioned at each corner of the body unit 1300 . For example, the moving fixing unit 1400 may be configured to form one group of six. The movable fixing unit 1400 moves the main body 1300 on the sea floor or fixes it to the sea floor. In addition, the movable fixing unit 1400 may also serve as a bridge that separates the body unit 1300 from the sea floor by a predetermined interval.

For this purpose, the movable fixing unit 1400 may have a bar shape, for example, and an end portion may have a semicircular shape. The movable fixing unit 1400 may be positioned at an angle of 60 degrees while forming a group of six. Since the number and arrangement of the movable fixing units 1400 may vary according to the design of the sound wave output device 1000 , the number and arrangement of the movable fixing units 1400 are not limited to a specific number and arrangement.

The driving unit 1500 elevates the movable fixing unit 1400 in the vertical direction, rotates it in the left and right directions, and rotates it in the vertical direction. The movable fixing unit 1400 may be raised and lowered by the driving unit 1500 and rotated in multiple directions at the same time. A detailed description of the driving unit 1500 for this will be described later.

4 is a view illustrating a state in which the two sound wave output devices of FIG. 3 are positioned on the sea floor, and FIG. 5 is a view illustrating a process in which the two sound wave output devices of FIG. 4 are separated from each other on the sea floor. Hereinafter, the sound wave output device 1000 will be described with reference to this.

4 and 5, the coupling unit 1600 is installed on one side of the main body unit 1300, the two sound wave output devices (1000A, 1000B) each of the main body unit 1300 is coupled to each other .

The coupling unit 1600 may include, for example, a docking unit 1610 , a magnetic unit 1620 , a docking stick 1630 , an insertion unit 1640 , and a separation preventing protrusion 1650 .

The docking part 1610 is rotatably coupled to the side surface of the body part 1300 in the vertical direction. The shape of the docking unit 1610 may be, for example, a cylindrical shape. The docking unit 1610 may be rotated in the vertical direction. Accordingly, the positions of the docking stick 1630 and the insertion unit 1640 to be described later may be changed. When it is necessary to combine the two sound wave output devices (1000A, 1000B), the two sound wave output devices (1000A, 1000B) each have the docking stick 1630 and the insertion unit 1640 in positions (positions in the vertical direction) opposite to each other. After the docking unit 1610 is rotated so that it may be coupled to each other.

The magnetic unit 1620 is installed on the outer surface of the docking unit 1610 . The magnetic unit 1620 may be installed on the outer surface of the docking unit 1610 . The shape of the magnetic unit 1620 may be, for example, a ring shape along the edge of the docking unit 1610 . When the two sound wave output devices 1000A and 1000B are coupled to each other, each body unit 1300 may be more strongly coupled by the magnetic unit 1620 included in the docking unit 1610 .

In addition, even if the positions of the docking units 1610 do not match each other in a process in which the two sound wave output devices 1000A and 1000B are coupled to each other, by the magnetic force of the magnetic unit 1620 of each docking unit 1610 The positions of each other can be automatically corrected.

The docking stick 1630 is installed to be accommodated in and protrude from the docking unit 1610 . A separation prevention groove 1631 is formed on the side of the docking stick 1630 . The description of the separation prevention groove 1631 will be described together with the description of the separation prevention projection 1650 to be described later.

A power source 1660 capable of accommodating and protruding the docking stick 1630 may be installed inside the coupling unit 1600 . The power source 1660 may be, for example, a pneumatic cylinder, a hydraulic cylinder, a rack and pinion gear, and a worm and a worm gear, but is not limited thereto.

The insertion part 1640 is formed to be inserted in the docking part 1610 with a size corresponding to that of the docking stick 1630 . A docking stick 1630 of another sound wave output device 1000B may be inserted into the insertion unit 1640 of the sound wave output device 1000A. The shape of the end of the insertion unit 1640 may be a conical shape with a gradually decreasing diameter so that the docking stick 1630 can be smoothly inserted into the insertion unit 1640 .

The separation prevention protrusion 1650 may be installed inside the docking part 1610 to communicate with the insertion part 1640 . When the docking stick 1630 of any one sound wave output device 1000A is inserted into the insertion part 1640 of the other sound wave output device 1000B, the escape prevention protrusion 1650 prevents the docking stick 1630 from being detached. It is inserted into the groove 1631 . Accordingly, as shown in FIG. 4, the state coupled to the docking stick 1630 and the insertion unit 1640 is continuously maintained, so that the two sound wave output devices 1000A and 1000B are coupled to each other after being coupled to an external force. separation can be prevented.

And, as shown in Figure 5, when the separation of the two sound wave output devices (1000A, 1000B) is required, the escape prevention protrusion 1650 is separated from the departure prevention groove 1631, the two sound wave output devices (1000A) , 1000B) Each driving unit 1500 operates the moving fixing unit 1400 , so that the two sound wave output devices 1000A and 1000B may move away from each other.

On the other hand, the position sensing unit 1700 is installed on one side of the main body unit 1300, and detects the position of the other sound wave output device (1000).

The position detecting unit 1700 may include, for example, a base unit 1710 , a laser transmitting unit 1720 , and a laser receiving unit 1730 .

The base portion 1710 is rotatably coupled to the upper side of the body portion 1300 .

The laser transmitting unit 1720 is installed outside the base unit 1710 to irradiate the laser to the outside. The laser transmitter 1720 may be, for example, a laser generating module.

The laser receiver 1730 receives the laser and detects the position of the other sound wave output device 1000 .

When the two sound wave output devices 1000A and 1000B are to be salvaged by a probe after surveying the seabed topography in a state far apart from each other, it may be necessary to combine them. In this case, even if GPS location information is used, it may be difficult to confirm each other's exact location due to an error.

However, the sound wave output device 1000 included in the waterway topography change surveying system through acoustic exploration according to an embodiment of the present invention includes a position detecting unit 1700 . Therefore, when the two sound wave output devices 1000A and 1000B are separated from each other while measuring the seabed topography and need to be combined with each other, the two sound wave output devices 1000A and 1000B are each from the laser transmitter 1720. As the laser is irradiated, the base unit 1710 is rotated, and the laser may be irradiated to the periphery of each of the two sound wave output devices 1000A and 1000B. The two sound wave output devices 1000A and 1000B may receive lasers from each of the laser receivers 1730 to accurately check each other's positions, and then combine them quickly.

The movement control unit 1800 controls the operations of the movement fixing unit 1400 , the driving unit 1500 , the coupling unit 1600 , and the position sensing unit 1700 . A detailed description of the control process by the movement control unit 1800 will be described later.

As described above, since the waterway topography change surveying system through acoustic exploration according to this embodiment can grasp the seabed topography using two sound wave output devices 1000A and 1000B, the channel topography change using one sound wave output device Compared to the survey system, it is possible to grasp the sea surface type more quickly.

Also, the two sound wave output devices 1000A and 1000B may be coupled to each other by a coupling unit 1600 to be unloaded or lifted from a probe (not shown) at a time. Therefore, the unloading and lifting operations can be carried out quickly and smoothly compared to the existing waterway topography change surveying system that unloads or lifts the sound wave output device one by one.

In addition, the waterway topography change surveying system through acoustic exploration according to the present embodiment can impart mobility to the sound wave output device 1000 by using the driving unit 1500 and the moving fixing unit 1400 . Conventionally, since the sound wave output device is of a fixed type, the area that can be covered by one sound wave output device is limited. Since the available area can be effectively widened compared to the existing one, economic efficiency and efficiency can be improved.

In addition, when an error occurs in communication between the sound wave output device 1000 and the sonar due to an obstacle or the like, the communication error may be resolved by changing the location of the sound wave output device 1000 .

FIG. 6 is an exploded perspective view showing a driving unit and a moving fixing unit included in the sound wave output device of FIG. 2 . Hereinafter, with reference to this, the driving unit 1500 of the sound wave output device according to the present embodiment will be described.

As shown in FIG. 6 , the driving unit 1500 may include, for example, a vertical rotation unit 1510 , a horizontal rotation unit 1520 , and an elevation unit 1530 .

The vertical rotation unit 1510 rotates the movable fixing unit 1400 . For this purpose, the vertical rotation unit 1510 may be, for example, a rotation motor. On the other hand, the aforementioned moving fixing unit 1400 may be detachably coupled to the vertical rotating unit 1510 . Accordingly, when the moving fixed unit 1400 is rotated by the vertical rotating unit 1510 and worn or damaged in the process of contacting the seabed, only the damaged moving fixed unit 1400 can be replaced and used, so maintenance costs can save

The horizontal rotation part 1520 rotates the vertical rotation part 1510 so that the movable fixing part 1400 rotates in the left and right direction with respect to the main body part 1300 . The horizontal rotation unit 1520 may rotate the movable fixing unit 1400 within a range of approximately 90 degrees.

The lifting unit 1530 is installed on the main body 1300 , and the horizontal rotating unit 1520 is coupled to an end thereof, and the horizontal rotating unit 1520 is raised and lowered with respect to the main body 1300 . The lifting unit 1530 may be, for example, a pneumatic cylinder or a hydraulic cylinder, but is not limited thereto.

Returning to FIG. 3 , each of the corners of the aforementioned body portion 1300 may have an inlet portion 1310 formed to be retracted so that the elevating portion 1530 can be accommodated therein. The lifting unit 1530 may be installed such that a part thereof is exposed to the inlet unit 1310 . The inlet 1310 may be retracted to such an extent that it does not interfere with the horizontal rotating unit 1520 lifted by the elevating unit 1530 .

On the other hand, in the sound wave output device 1000 as described above, the lowermost end of the movable fixing unit 1400 is the lowermost end of the main body 1300 in a state in which the lifting unit 1530 raises the horizontal rotating unit 1520 to the maximum. It can be positioned higher. Accordingly, in a state in which the sound wave output device 1000 is stored on the deck of the ship, it is possible to prevent the movable fixing unit 1400 from collided with the deck and damaged.

Since the driving unit 1500 as described above can rotate the movable fixing unit 1400 in multiple directions, as shown in FIG. 7 , the main body unit 1300 can be moved forward or backward in one direction. In addition, as shown in FIG. 8 , the driving unit 1500 may rotate the main body 1300 in place by positioning the movable fixing unit 1400 at a 45 degree angle with respect to the main body 1300 . .

9 is a view showing a state in which the moving fixing unit is coupled to the vertical rotating unit according to the modified example. Referring to FIG. 9 , the movable fixing unit 2400 may include a plurality of rotating sticks 1410 and a fixing protrusion 1420 as a modification.

The plurality of rotation sticks 1410 may be coupled to the vertical rotation unit 1510 and installed to be spaced apart from each other at predetermined angles. The rotating stick 1410 may have, for example, a pipe shape with an open end.

The fixing protrusion 1420 is formed in a bar shape, is installed to be accommodated and protruded in any one of the plurality of rotation sticks 1410 , and protrudes from the rotation stick 1410 to attach the body part 1300 to the sea floor. can be fixed on The fixing protrusion 1420 may have at least a portion of the fixing protrusion 1420 that has a narrower width toward the end so as to be easily embedded in the seabed.

The movable fixing unit 2400 according to the modified example is made so that the fixing protrusion 1420 is embedded in the sea floor as compared to the above-described movable fixing unit 1400, so that the sound wave output device 1000 is more firmly fixed to the sea floor. can One movable fixing unit 2400 according to a modification to the vertical rotation unit 1510 of the above-described driving unit 1500 may be installed in a specific area of the vertical rotation unit 1510, and the remaining area of the vertical rotation unit 1510 is previously The described movable fixing unit 1400 may be installed, but is not limited thereto.

10 to 15 are diagrams illustrating a process in which two sound wave output devices are seated and fixed on the seabed. Specifically, FIG. 10 shows a state in which two sound wave output devices are unloaded from the probe in a state in which they are coupled to each other, and FIG. 11 shows a state in which two sound wave output devices are seated on the seabed in a state in which they are coupled 12 is a view showing a state in which the movable fixing unit located at the end of each of the two sound wave output devices is rotated in different directions, and FIG. 13 is a view showing a state in which the fixing projection is embedded in the seabed , FIG. 14 is a view showing a state in which the movable fixing part located in the inner part of each of the two sound wave output devices is rotated in different directions, and FIG. 15 is a view showing a state in which the fixing projection is embedded in the seabed. Hereinafter, with reference to this, a process in which the two sound wave output devices 1000A and 1000B are fixed to the seabed by the movement control unit 1800 will be described.

The movement control unit 1800 is fixed to the seabed in a state in which the two sound wave output devices 1000A and 1000B are coupled to each other, and when the two sound wave output devices 1000A and 1000B are separated from each other. When fixed to the two sound wave output devices (1000A, 1000B) in each can be controlled differently from each other.

First, as shown in FIGS. 10 and 11 , the two sound wave output devices 1000A and 1000B may be unloaded by a cable of a probe (not shown) in a coupled state to be seated on the seabed.

Next, as shown in FIG. 12 , the movement control unit 1800 is a movement fixing unit 1400 located at the end of each of the two sound wave output devices 1000A and 1000B among the plurality of movement fixing units 1400 . ) and then rotate in opposite directions.

In more detail, the movement control unit 1800 lowers the moving fixing units 1400 located at the right end and the left end with respect to the direction shown in the drawing, and the remaining moving fixing units 1400 are at their initial positions. to keep In addition, the moving fixing unit 1400 located at the right end portion may be rotated counterclockwise, and the moving fixing unit 1400 located at the left end portion may be rotated clockwise. A part of the moving fixed unit 1400 may enter the sea floor while the moving fixed unit 1400 digs into the seabed. In this case, the main body 1300 may maintain its current position without moving in the left or right direction.

Thereafter, as shown in FIG. 13 , the fixing protrusion 1420 is protruded to be embedded in the seabed. That is, as the fixing protrusion 1420 is further inserted into the seabed, the main body 1300 may be stably fixed to the seabed.

Next, as shown in FIG. 14 , among the plurality of movable fixing units 1400 , the moving fixing units 1400 located in the inner portions of each of the two sound wave output devices 1000A and 1000B are lowered and then each other rotate in the opposite direction.

More specifically, the movement control unit 1800 may lower the movement fixing units 1400 positioned adjacent to each of the right and left sides of the coupling unit 1600 based on the direction shown in the drawing.

In addition, the moving fixing unit 1400 positioned adjacent to the right side of the coupling unit 1600 may rotate counterclockwise, and the moving fixing unit 1400 adjacent to the left side may be rotated clockwise. A part of the moving fixed unit 1400 may enter the sea floor while the moving fixed unit 1400 digs into the seabed.

Finally, as shown in FIG. 15 , the fixing protrusion 1420 may protrude. As the fixing protrusion 1420 is further inserted into the seabed, the main body 1300 may be more stably fixed to the seabed.

Here, the direction in which the movable fixing unit 1400 positioned on each of the left and right sides of any one sound wave output device 1000 is unfolded may be opposite to each other, and thus more strongly with respect to the seabed according to the complementary effect. can be fixed.

Hereinafter, a process in which the two sound wave output devices 1000A and 1000B are located on the sea floor in a state in which they are separated from each other will be described.

16 and 17 are diagrams illustrating a process in which one sound wave output device is fixed to the seabed. Specifically, FIG. 16 is a view showing a state in which the movable fixing parts located on both sides of the sound wave output device are rotated in different directions, and FIG. 13 is a diagram showing a state in which the fixing protrusions are embedded in the seabed. Hereinafter, with reference to this, a process in which the sound wave output device 1000 is fixed to the seabed by the movement control unit 1800 of the sound wave output device 1000 will be described.

First, as shown in FIG. 16 , the movement control unit 1800 lowers the plurality of movement fixing units 1400 of the sound wave output device 1000 and then rotates them in opposite directions. In more detail, as shown in FIG. 5 , when the two sound wave output devices 1000A and 1000B are separated from each other, all of the movable fixing units 1400 are lowered.

At this time, based on the direction shown in the drawing, the moving fixing unit 1400 located on the right side may rotate counterclockwise, and the moving fixing unit 1400 located on the left side may be rotated clockwise. A part of the moving fixed unit 1400 may enter the sea floor while the moving fixed unit 1400 digs into the seabed.

Finally, as shown in FIG. 17 , the fixing protrusion 1420 may protrude. While the fixing protrusion 1420 is embedded in the seabed, the main body 1300 may be stably fixed to the seabed.

The waterway topography change surveying system through acoustic exploration according to the embodiment of the present invention as described above is different from the conventional waterway topography change surveying system, the sound wave output device 1000 is driven by the driving unit 1500 and the moving fixing unit 1400. It can be moved on the seabed. The area of the seabed topography that the sound wave output device 1000 can measure may be remarkably increased. In addition, when it is located in a place where it is difficult to measure the seabed topography, it is possible to move to another place to measure the seabed topography, so that the measurement accuracy can be improved.

In addition, it is possible to quickly survey the seabed topography by selectively using one or two sound wave output devices (1000A, 1000B) according to various situations such as flow velocity or measurement range.

Although the present invention has been described in detail through specific examples, this is for describing the present invention in detail, and the waterway topography change surveying system through acoustic exploration according to the present invention is not limited thereto, and within the technical spirit of the present invention, the present invention is not limited thereto. It will be clear that the modification or improvement is possible by those of ordinary skill in the art.

All simple modifications or changes of the present invention fall within the scope of the present invention, and the specific scope of protection of the present invention will be made clear by the appended claims.

1000: sound wave output device 1100: sound wave output module
1200: sound wave output control unit 1300: body unit
1310: inlet 1400: moving fixed part
1410: rotating stick 1420: fixed projection
1500: driving unit 1510: vertical rotation unit
1520: horizontal rotating unit 1530: elevating unit
1600: coupling unit 1610: docking unit
1620: magnetic unit 1630: docking stick
1631: separation prevention groove 1640: insertion part
1650: escape prevention projection 1700: position detection unit
1710: base unit 1720: laser transmitter
1730: laser receiver 1800: movement control unit
2000: sonar 3000: location information calculation module
4000: database 5000: control unit
6000: display unit 7000: drawing module

Claims (2)

two sound wave output devices that are distributed and installed on the seabed and wirelessly transmit distinct sound waves toward the sea level, coupled or separated from each other;
a sonar including a receiving module for wirelessly receiving a sound wave transmitted from the sound wave output device;
Analyze the sonar information received from the sonar and calculate relative location information of the sonar by calculating based on the GPS location information of the mother in which the sonar is installed, and using the identified location information of a plurality of the sonar output devices a location information calculation module to obtain numerical data that can identify the seabed topography;
The location information of each of the sound wave output devices obtained through the location information calculation module is matched to the corresponding sound wave output device for each sound wave output device and stored in an allocated area, but whenever the location information of the location information calculation module is obtained, the corresponding sound wave output a database for storing in a state distinguished from previous location information of the device;
a control unit that detects the location information of the database and outputs it to a display unit to be displayed separately for each sound wave output device, and monitors and controls the whole;
a display unit for classifying the location information of the sound wave output device for each sound wave output device according to the output signal of the control unit and outputting the location information for each sound wave output device in a state differentiated at each acquisition time point; and
And a drawing module for showing the topography of the sea floor where the sound wave output device is installed as an image based on the location information of the sound wave output device output through the control unit,
Each of the two sound wave output devices,
body part;
a plurality of moving fixing parts installed at each of the corners of the body part to move the body part on the seabed or fixed to the seabed;
a driving unit for lifting and lowering the movable fixing unit in the vertical direction, rotating it in the left and right directions, and rotating it in the vertical direction;
a coupling part installed on one side of the body part and coupling the body parts of each of the two sound wave output devices to each other;
a position sensing unit installed on one side of the main body and sensing the position of another sound wave output device; and
A movement control unit for controlling the operation of the moving fixing unit, the driving unit, the coupling unit and the position sensing unit; including,
The driving unit,
a vertical rotation unit for rotating the movable fixing unit;
a horizontal rotation unit that rotates the vertical rotation unit so that the movable fixing unit rotates in the left and right directions with respect to the body unit; and
It is installed on the main body part, the horizontal rotating part is coupled to the end, and a lifting part for allowing the horizontal rotating part to be raised and lowered with respect to the main body part;
The lowermost end of the movable fixing unit is positioned higher than the lowermost end of the main body in a state in which the lifting unit raises the horizontal rotating unit to the maximum,
The moving fixing unit,
a plurality of rotating sticks coupled to the vertical rotating unit and installed to be spaced apart from each other at predetermined angles; and
It is made of a rod shape, is installed so as to be accommodated and protruded in any one of the plurality of rotating sticks, and protruding from the rotating stick, a fixing protrusion for fixing the main body to the seabed; includes,
The movement control unit,
When the two sound wave output devices are positioned on the sea floor in a state in which they are coupled to each other, the moving fixing part located at the end of each of the two sound wave output devices among the plurality of moving fixing parts is lowered and then in the opposite direction to each other. rotate and project the fixing protrusion,
A waterway topographic change surveying system through acoustic exploration in which a movable fixing part located in the inner part of each of the two sound wave output devices among the plurality of movable fixing parts is lowered and then rotated in opposite directions and the fixing protrusion is protruded.
The method of claim 1,
The position sensing unit,
a base portion rotatably coupled to an upper side of the body portion;
a laser transmitter installed outside the base to irradiate a laser to the outside; and
A waterway topographical change surveying system through acoustic exploration comprising; a laser receiver for receiving a laser and detecting the position of another sound wave output device.

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