RU2671792C1 - Automated hydrographic sweep complex - Google Patents

Abstract

FIELD: physics.SUBSTANCE: invention relates to technical means for detecting underwater obstacles at a given depth of the water area, namely, to hydrographic sweep complexes. Automated hydrographic sweep complex contains a trawl, comprising a trawling element connected by a cable with a friction-geared winch, mounted on a vessel, and connected to the vessel by a rod, upper end of which is inserted with the possibility of vertical movement in a guide element connected to the vessel with a hinge with a horizontal axis of rotation. At the upper end of the rod above the guide element a clamp is fastened. Complex includes a calculator connected to a hydrographic unit, navigation unit, unit for measuring the parameters of pitching, connected to the navigation unit, and a sweep side-scan sonar, moreover, at least two sweep side-scan sonar antennas are mounted on the trawling element in a position that allows them to be emitted left and right from the longitudinal axis of the vessel. Additionally, the trawl includes a protective element, reinforced at the bottom of the rod, a vertical movement winch and a trawl deployment winch, fixed on the vessel and connected by cables with the sweep element.EFFECT: increase in the hydrographic sweep band and an increase in the accuracy of determining the parameters of underwater obstacles are achieved.5 cl, 6 dwg

Description

The invention relates to technical means for detecting underwater obstacles at a given depth of the water area, namely to hydrographic trawl complexes.

Ensuring the safety of navigation requires modern hydrographic trawling systems, the use of which will improve the efficiency of hydrographic trawling of water areas.

Known trawl for detecting underwater obstacles according to patent RU No. 2353544 (IPC B63C 11/48; G01C 13/00, publ. 04/27/2009), which contains a trawling beam connected to traction cables and hoist-signal cables, a support beam, maneuvering mechanisms hoist-signal cables, guiding elements of hoist-signal cables, depth indicators for obstacles with scales, made in the form of balancing beams and pivotally mounted on the support beam, a device for determining the coordinates of a floating device connected to a personal computer a yuter, which is connected to contact sensors that are triggered by the lifting of the sweeping beam.

From the patent for utility model RU No. 166112 (IPC B63C 11/48; G01C 13/00, published November 20, 2016), a hydrographic trawl is known which comprises a trawl buried in water suspended by a cable system on a floating vessel, a computer and a device determining coordinates, the output of which is connected to one of the inputs of the computer, a shock acceleration sensor is installed on the trawl beam, the output of which is electrically connected to the other input of the computer.

Known hydrographic trawl according to patent RU No. 2364543 (IPC B63C 7/26; G01C 13/00, publ. 04/23/2008), which contains a trawling element in the form of a horizontal beam connected by rigid rods in the form of pieces with a floating means, the upper ends of the pieces are inserted with the possibility of vertical movement in annular guiding elements connected to the floating means by means of hinges with a horizontal axis of rotation and provided with stops on the lateral surface, while at the upper ends of the footstocks above the annular guiding elements hooks to which balancing clamps are pivotally attached, at one end of which locking hooks are made with the possibility of their engagement and uncoupling with stops on the lateral surface of the annular guide elements, and counterweights are strengthened at the other end of the balancing clamps.

The disadvantages of the analogues are the hydrographic trailing strip limited by the size of the trawling element and the insufficient accuracy of determining the parameters (location coordinates, dimensions and hazard characteristics) of the detected obstacles.

The technical solution known from patent RU No. 2364543, is selected as the closest analogue of this invention.

The problem to which this invention is directed, is to create a hydrographic trawl complex, which improves the efficiency of hydrographic trawling of the water area by eliminating these disadvantages.

The technical result achieved by the implementation of the claimed invention is to increase the hydrographic trawling strip, as well as to increase the accuracy of determining the parameters (location coordinates, dimensions and hazard characteristics) of underwater obstacles detected at a given depth of the water area.

The specified technical result is achieved by the fact that in an automated hydrographic trawl complex containing a trawl, including a trawling element connected by a cable to a friction winch mounted on the vessel and connected to the vessel by a foot rod, the upper end of which is inserted with the possibility of vertical movement into the guide element connected to the vessel using a hinge with a horizontal axis of rotation, while at the upper end of the footstock above the guide element, a clamp is fixed, in addition to the complex A calculator connected to a hydrographic unit, a navigation unit, a pitching unit measuring unit connected to a navigation unit, and a trawl side-scan sonar is provided, and at least two trawl side-scan sonar antennas are mounted on the trawl element in a position that allows them to be emitted left and right from the longitudinal axis of the vessel, in addition to the structure of the trawl, a protective element is mounted, fortified in the lower part of the footstock, a vertical movement winch and a tram deployment winch la fixed on the ship and connected by cables with a trawling element.

The technical result is also achieved by the fact that:

in addition, the complex includes a multi-beam echo sounder and a side view sonar, connected to the computer, and the computer includes specialized software for processing primary information from a multi-beam echo sounder and a side view sonar;

the hydrographic unit includes specialized software for forecasting and planning trawling operations;

the trawling element is made in the form of a metal structure of a rectangular shape;

the protective element is made in the form of an arcuate shape.

The essence of the proposed automated hydrographic trawl complex (AGTK) is illustrated by an example of its implementation and drawings, which depict:

in FIG. 1 - structural electrical diagram of the complex;

in FIG. 2 - front view, the complex performs trawling;

in FIG. 3 - right view, the complex performs trawling;

in FIG. 4 - view from the right, the trawl of the complex in transport position;

in FIG. 5 is a right view, the trawl of the complex in operating position;

in FIG. 6 is a general view, the complex is shown when an underwater obstacle is detected.

The automated hydrographic trawl complex includes (Fig. 1) a vessel 1 with a trawl 2, a navigation block 3, a pitching unit 4, a trawl sonar 5, a multi-beam echo sounder 6, a ship’s side radar 7, a calculator 8, and a hydrographic block 9.

Vessel 1 is intended for the placement and transportation of AGTK elements and is, for example, an environmentally friendly vessel of project 02220 (Yaroslavets-M).

The trawl 2 is designed to detect obstacles in a non-contact manner at a given depth in the indicated trawling strip of the water area. The trawl 2 includes (Fig. 2, 3) a footpiece 10, a fixing unit 11 containing a hinge 12 with a horizontal axis of rotation, a clamp 13, a guiding element 14, a trawling element 17, on which at least two antennas of the side-scan sonar 5 of the trawl are placed, protective element 18, a vertical displacement winch 19, a trawl deployment winch 20 and a friction winch 21.

Footstock 10 is designed to establish a trawling element 17 at a specified depth of trawling and is a metal beam of rectangular cross section.

The node 11 is designed to fix the footstock 10 in a predetermined position.

The trawling element 17 is designed to accommodate at least two antennas of the side-scan sonar 5 of the trawl and is a metal structure of a rectangular shape.

The protective element 18 protects the trawling element 17 from mechanical stress and is a metal structure of an arcuate shape.

Winch 19 is designed to move the footstock 10 in a vertical plane, the cable of which is fixed in the lower part of the footstock 10.

The winch 20 is designed to transfer the trawl from the transport position to the working one and vice versa, the cable of which is fixed at the bottom of the footstock 10. In addition, in the working position of the trawl, the cable tension of the trawl deployment winch 20 together with the cable of the friction winch 21 provide rigid fixation of the stock 10 to exclude it vibrations under the pressure of water.

Friction winch 21 is designed to protect the trawl from damage in the event of a collision with an obstacle, the cable of which is fixed at the bottom of the foot rod 10. The resistance of the friction winch 21 is designed so that when it hits an obstacle, the foot rod can lean back, soften the impact and prevent damage to the elements of the trawl 2. In addition, in the working position of the trawl, the tension of the cable of the friction winch 21 together with the cable of the winch 20 of the deployment of the trawl provide a rigid fixation of the rod 10 to prevent its vibration under the pressure of the water.

The navigation unit 3 is designed to determine the position and movement of the vessel (location coordinates, course, track angle, speed and others). The navigation unit 3 includes a satellite navigation receiver operating in the SNC compass mode with two antennas and is, for example, a navigation module KTDL.468157.006 manufactured by Kronstadt Technologies JSC.

Block 4 measurements of pitching parameters (BIPK) is designed to calculate the values of the angles of the course, heel and trim of the axis of the vessel, as well as the calculation of the translational movements of the vessel along all three axes in space. Block 4 measuring the rolling parameters includes rotation angle sensors based on micromechanical gyroscopes, magnetometers and accelerometers and is, for example, a strapdown inertial navigation system based on microelectromechanical systems GL-VG109. To eliminate accumulated errors, data from the navigation block 3 on the current parameters of the vessel is used.

Side sweeping sonar 5 (HBOT) is designed to scan the water column for obstacles to safe navigation in the horizontal plane to the left and right of the ship's axis for guaranteed removal determined by the technical characteristics of sonars (at least 100 m), and to record data to determine location coordinates detected obstacles. The trawl sonar 5 includes a control unit, two antennas (vibrators) directed diametrically, and is, for example, a packageless variant of the SportScan side scan sonar.

The multi-beam echo sounder 6 (MBE) is designed to conduct an area hydrographic survey of the bottom along the entire trawl strip. The MBE rays propagate in the form of a sector in a vertical plane perpendicular to the ship's course. The multi-beam echo sounder 6 includes an antenna (vibrator), a control unit and is, for example, a sample of the multi-beam echo sounder R2Sonic 2024.

The marine side-scan sonar 7 (GBOS) is designed for a detailed study of the bottom surface and water column over the entire trawl strip. The GBOS beams propagate parallel to the MBE rays in the form of a sector in a vertical plane perpendicular to the ship's course. The marine side-scan sonar 7 includes a control unit, an antenna (vibrator) and is, for example, the aforementioned SportScan.

The combined use of HBOS and MBE provides a high quality survey result and hydrographic survey of the bottom of the water area.

The computer 8 is designed to collect, process and output data and is a hardware-software complex. The hardware of calculator 8 can be an industrial laptop (main technical specifications: processor - Intel Core i7-7700, RAM - 32GB DDR3, 256GB hard drive, ASUS EX-GTX1070 graphics card, DVD-RW drive). The software (software) of the calculator 8 includes the Windows 7 Pro operating system and special software (SPO), which includes programs for processing primary information from GBOT, GBOS, MBE and the navigation unit.

Hydrographic unit 9 is designed to enter data that defines the parameters and conditions of trawling, including hydrographic surveys, solving specialized problems, displaying results for a given trawl strip, and signaling that obstacles are detected at a given trawl depth over the entire width of the swath. Hydrographic unit 9 is a hardware-software complex, the hardware of which can be an industrial laptop (main technical specifications: processor - Intel Core i7-7700, RAM - 32GB DDR3, 256GB hard drive, ASUS EX-GTX1070 graphics card, DVD drive -RW). The hydrographic unit 9 software includes the Windows 7 Pro operating system and open source software, including the Delta-P software package (PC), for survey planning, real-time and post-processing, Delta-T software for forecasting and planning trawling and PC "Delta Office".

Automated hydrographic trawl complex operates as follows.

During transportation (Fig. 4), the trawl 2 is fixed in a horizontal position along the side of vessel 1. Into the hydrographic unit 9, a map of the trawling area, parameters and conditions of trawling, as well as the tack plan along which the vessel 1 is to be moved during trawling and surveying are entered. The information display device of the hydrographic unit 9 displays a map of the trawling area, the location of the vessel 1 and the trawl strip. The hydrographic unit 9 in real time provides data on the recommended course of the vessel 1 to exit or hold it on the tack. After the vessel 1 exits to the initial trawl point (Fig. 5) using the vertical winch 19, the rod 10 of the trawl 2 is set to the desired trawl depth and fixed in this position using the fixing unit 11 and the winch cables 20 and 21.

During hydrographic trawling (Fig. 6), the vessel 1 begins to move along the tacks or fairway (ship passage) set at the planning stage, the current data on the location and movement of the vessel 1 are continuously determined by the navigation unit 3 and transmitted to the BIPK 4 and calculator 8, in BIPK 4 determines the values of the angles of heading, heel and trim of the axis of the vessel 1, and also translates the translational movements of the vessel 1 along all three axes in space, which enter the computer 8. A lateral scanning sonar 5 scans the water column left and right of the course (axis) of the vessel 1 in a horizontal plane at a predetermined depth. The acoustic image data is fed to calculator 8, where it is processed taking into account data on the current rolling parameters of the vessel and transmitted for display to hydrographic unit 9. When processing data, calculator 8 automatically detects obstacles in the trawl zone, calculates location coordinates, obstacle sizes and transmits them hydrographic unit 9 for display.

At the same time, a hydrographic survey is performed, the data of which (an array of depths in the MBE viewing range, the acoustic image of the bottom) comes from MBE 6 and GBOS 7 to the calculator 8. Based on the data on the current rolling parameters coming from BIPK 4, the calculator 8 makes corrections to the data received from MBE 6 and GBOS 7 and transmits them to the hydrographic unit 9 for display.

All data on hydrographic trawling and surveying are stored in hydrographic unit 9, including for the possibility of subsequent analysis and prediction of changes in the relief of the bottom of the water area.

In the event of a collision of the trawl 2 with an obstacle, a force is transmitted to the cable of the friction winch 21, when the critical value is reached, the cable of the friction winch 21 is weakened, which deflects the foot rod 10 of the trawl 2 back to mitigate the impact and prevent breakage of the elements of the trawl. To continue conducting hydrographic trawling, the trawl 2 is again fixed in the working position.

The claimed invention is implemented in a prototype of an automated hydrographic trawl complex. The results of preliminary tests of this complex confirm an increase in the trawling strip of the water area to 200 m, in which underwater obstacles are guaranteed to be detected and their parameters are determined (location coordinates, dimensions, nature (nature), due to which the time for performing hydrographic trawling is reduced. In addition, the data hydrographic surveys of the bottom of the water area obtained by trawling provide forecasting of changes in the topography of the bottom, the results of which are used for zrabotki subsequent trawling plans. All these factors combine to make it possible to reduce the cost of performing hydrographic trawling waters.

The trial operation of this system is planned in the waters of the Federal State Institution “Volgo-Balt Administration” (St. Petersburg).

Claims (5)

1. An automated hydrographic trawl complex containing a trawl, including a trawling element, connected by a cable to a friction winch mounted on the vessel, and connected to the vessel by a foot rod, the upper end of which is inserted with the possibility of vertical movement in the guide element connected to the vessel by a horizontal hinge the axis of rotation, while at the upper end of the foot of the rod above the guide element, a clamp is fixed, characterized in that the complex includes a calculator connected to a hydrographic m unit, navigation unit, pitching unit, connected to the navigation unit, and a trawl side-scan sonar, at least two antennas of the trawl side-scan sonar are mounted on the trawl element in a position that allows them to be emitted left and right of the longitudinal axis of the vessel, additionally, the trawl includes a protective element, mounted at the bottom of the footstock, a vertical movement winch and a trawl deployment winch, mounted on the vessel and connected by ropes with a trawling element. 2. The automated hydrographic trawl complex according to claim 1, characterized in that the trawling element is made in the form of a metal structure of a rectangular shape. 3. The automated hydrographic trawl complex according to claim 1, characterized in that it includes a multi-beam echo sounder and a marine side-scan sonar connected to the computer, and the computer includes specialized software for processing primary information from the multi-beam echo sounder and a marine side-scan sonar. 4. The automated hydrographic trawl complex according to claim 1 or 3, characterized in that the hydrographic block includes specialized software for forecasting and planning trawling operations. 5. The automated hydrographic trawl complex according to claim 1, characterized in that the protective element is made in the form of an arc-shaped part.

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