Rotatable underwater terrain monitoring system

Abstract

The invention provides a rotatable underwater terrain monitoring system, relates to the technical field of underwater survey sonar, and solves the technical problems that the detection angle of a multi-beam transducer in the prior art is fixed, and a single multi-beam transducer is difficult to meet wide-range underwater terrain monitoring. The device comprises a multi-beam transducer, a rotary holder and a processing module, the rotary holder is connected with the multi-beam transducer, and the multi-beam transducer and the rotary holder are both connected with the processing module; the multi-beam transducer is used for transmitting and receiving sound wave information and transmitting the received sound wave information to the processing module; the rotary holder is mounted on the measuring platform, and the rotary holder can change the detection angle and the detection depth of the multi-beam transducer; and the processing module can control the operation state of the rotary holder, receive the sound wave information and draw a topographic map according to the sound wave information.

Description

Technical Field

[0001] The invention relates to the technical field of underwater survey sonar, and in particular to a rotatable underwater terrain monitoring system. Background Art

[0002] Multi-beam transducers are widely used in underwater depth measurement due to their wide detection range and high measurement accuracy. However, when conducting underwater terrain monitoring, due to the complex underwater terrain and large detection range, it is impossible to obtain a wider detection range and detection accuracy; and the detection angle of multi-beam transducers on the current market is fixed. A single multi-beam transducer is difficult to meet the needs of large-scale underwater terrain monitoring, and is also easily affected by water temperature and water quality, thus affecting the measurement accuracy. Summary of the invention

[0003] The purpose of the present invention is to provide a rotatable underwater terrain monitoring system to solve the technical problem that the detection angle of the multi-beam transducer in the prior art is fixed and a single multi-beam transducer is difficult to meet the requirements of a large range of underwater terrain monitoring. The preferred technical solutions among the many technical solutions provided by the present invention can produce many technical effects as described below.

[0004] To achieve the above object, the present invention provides the following technical solutions: The present invention provides a rotatable underwater terrain monitoring system, comprising a multi-beam transducer, a rotating pan-tilt platform and a processing module, wherein the rotating pan-tilt platform is connected to the multi-beam transducer, and the multi-beam transducer and the rotating pan-tilt platform are both connected to the processing module; The multi-beam transducer is used to transmit and receive sound wave information, and can transmit the received sound wave information to the processing module; The rotating pan-tilt platform is installed on the measuring platform, and the rotating pan-tilt platform can change the detection angle and detection depth of the multi-beam transducer; The processing module can control the operating state of the rotating pan-tilt platform, and the processing module can receive the sound wave information and draw a topographic map according to the sound wave information.

[0005] Optionally, a sound velocity meter is further included, wherein the sound velocity meter is mounted on the multi-beam transducer and connected to the processing module; The sound velocity meter can monitor the underwater sound velocity change and transmit the sound velocity change data to the processing module, and the processing module can receive and process the sound velocity change data.

[0006] Optionally, the processing module includes a sound speed compensation unit, which is connected to the sound velocity meter and can receive and process the sound speed change data.

[0007] Optionally, it further comprises an attitude meter, wherein the attitude meter is mounted on the multi-beam transducer and the attitude meter is connected to the processing module; The attitude meter is used for real-time attitude of the multi-beam transducer and can transmit attitude data to the processing module. The processing module can receive the attitude data and control the operation of the rotating gimbal according to the attitude data.

[0008] Optionally, the processing module includes a posture compensation unit, which is connected to the posture instrument and can receive the posture data and correct the posture data.

[0009] Optionally, the rotating gimbal includes a horizontal rotating mechanism, a vertical rotating mechanism and a lifting mechanism, the horizontal rotating mechanism is connected to the measuring platform, the horizontal rotating mechanism is connected to the vertical rotating mechanism, the vertical rotating mechanism is connected to the lifting mechanism, the lifting mechanism is connected to the multi-beam transducer, and the horizontal rotating mechanism, the vertical rotating mechanism and the lifting mechanism are all connected to the processing module.

[0010] Optionally, the processing module includes a control unit, and the horizontal rotation mechanism, the vertical rotation mechanism and the lifting mechanism are all connected to the control unit, and the control unit can control the operation of the horizontal rotation mechanism, the vertical rotation mechanism and the lifting mechanism.

[0011] Optionally, the processing module includes a terrain mapping unit, a data processing unit and an early warning unit.

[0012] Optionally, the rotatable underwater terrain monitoring system is configured with one or more of the multi-beam transducers.

[0013] The present invention provides a rotatable underwater terrain monitoring system. The processing module can change the detection angle and detection depth of the multi-beam transducer by controlling the operation of the rotating pan-tilt platform, thereby enabling the multi-beam transducer to achieve all-round terrain scanning and expand the detection range of a single measurement, thereby solving the technical problem in the prior art that the detection angle of the multi-beam transducer is fixed and a single multi-beam transducer is difficult to meet the requirements of large-scale underwater terrain monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 is a flow chart of a rotatable underwater terrain monitoring system provided by an embodiment of the present invention; Figure 2 is a structural diagram of a rotating pan-tilt platform of a rotatable underwater terrain monitoring system provided by an embodiment of the present invention; Figure 3 is a structural diagram of another side of a rotating pan-tilt platform of a rotatable underwater terrain monitoring system provided by an embodiment of the present invention; Figure 4 The present invention provides a rotatable terrain monitoring map of an underwater terrain monitoring system.

[0016] In the figure, 1. Multi-beam transducer; 2. Rotating pan / tilt; 21. Horizontal rotating mechanism; 22. Vertical rotating mechanism; 3. Sonic velocity meter; 4. Sound velocity compensation unit; 5. Attitude instrument; 6. Posture compensation unit; 7. Control unit; 8. Terrain drawing unit; 9. Data processing unit; 10. Early warning unit. DETAILED DESCRIPTION

[0017] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0018] In the description of the present invention, it should be noted that, unless otherwise specified, the meaning of "multiple" is two or more; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0019] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] The present invention provides a rotatable underwater terrain monitoring system, comprising a multi-beam transducer 1, a rotating pan-tilt platform 2 and a processing module, wherein the rotating pan-tilt platform 2 is connected to the multi-beam transducer 1, and both the multi-beam transducer 1 and the rotating pan-tilt platform 2 are connected to the processing module; The multi-beam transducer 1 is used to transmit and receive sound wave information, and can transmit the received sound wave information to the processing module; the rotating platform 2 is installed on the measuring platform, and the rotating platform 2 can change the detection angle and detection depth of the multi-beam transducer 1; the processing module can control the operation state of the rotating platform 2, and the processing module can receive sound wave information and draw a topographic map based on the sound wave information. The present invention provides a rotatable underwater terrain monitoring system, and the processing module can change the detection angle and detection depth of the multi-beam transducer 1 by controlling the operation of the rotating platform 2, thereby enabling the multi-beam transducer 1 to achieve all-round terrain scanning, expand the detection range of a single measurement, and solve the technical problem that the detection angle of the multi-beam transducer in the prior art is fixed, and a single multi-beam transducer is difficult to meet the requirements of a large range of underwater terrain monitoring.

[0021] As an optional implementation, it also includes a sound velocity meter 3, which is installed on the multi-beam transducer 1 and connected to the processing module; the sound velocity meter 3 can monitor the underwater sound velocity change and transmit the sound velocity change data to the processing module, and the processing module can receive and process the sound velocity change data. The processing module includes a sound velocity compensation unit 4, which is connected to the sound velocity meter 3, and the sound velocity compensation unit 4 can receive and process the sound velocity change data. The sound waves emitted by the multi-beam transducer 1 will cause the sound velocity to change due to environmental factors such as temperature, water pressure and salinity in the water. This change in sound velocity is corrected by the sound velocity compensation unit 4, thereby ensuring that the measurement accuracy is not affected by environmental factors.

[0022] As an optional implementation, it also includes an attitude meter 5, which is installed on the multi-beam transducer 1 and is connected to the processing module; the attitude meter 5 is used to measure the attitude of the multi-beam transducer 1 in real time, including the tilt angle, roll angle, and heading angle, etc., and can transmit the attitude data to the processing module, and the processing module can receive the attitude data and control the operation of the rotating platform 2 according to the attitude data. The processing module includes an attitude compensation unit 6, which is connected to the attitude meter 5, and the attitude compensation unit 6 can receive the attitude data and correct the attitude data. Since the hull or platform may be affected by external conditions such as waves and wind during the measurement process, the attitude meter 5 can monitor the attitude change of the multi-beam transducer 1 caused by the tilt in real time, and the attitude change will be transmitted to the attitude compensation unit 6, and the attitude compensation unit 6 will compare with the correct attitude, calculate the compensation attitude angle, and then transmit it to the control unit 7, control the rotating platform 2 to make corresponding compensation movements, so that the multi-beam transducer 1 returns to its original position, and further improve the accuracy of the measurement data.

[0023] As an optional implementation, the rotating platform 2 includes a horizontal rotating mechanism 21, a vertical rotating mechanism 22 and a lifting mechanism, the horizontal rotating mechanism 21 is connected to the measuring platform, the horizontal rotating mechanism 21 is connected to the vertical rotating mechanism 22, the vertical rotating mechanism 22 is connected to the lifting mechanism, the lifting mechanism is connected to the multi-beam transducer 1, and the horizontal rotating mechanism 21, the vertical rotating mechanism 22 and the lifting mechanism are all connected to the processing module. The horizontal rotating mechanism 21 can control the multi-beam transducer 1 to rotate in the X-axis plane, the vertical rotating mechanism 22 can control the multi-beam transducer 1 to rotate in the Y-axis plane, and the vertical rotating mechanism 22 can control the multi-beam transducer 1 to move along the Z-axis direction to achieve all-round rotation of the multi-beam transducer 1. The rotating platform 2 can drive the multi-beam transducer 1 to rotate according to a preset program or real-time instructions to ensure that comprehensive measurement data is provided under complex terrain conditions.

[0024] As an optional embodiment, the processing module includes a control unit 7, and the horizontal rotation mechanism 21, the vertical rotation mechanism 22 and the lifting mechanism are all connected to the control unit 7, and the control unit 7 can control the operation of the horizontal rotation mechanism 21, the vertical rotation mechanism 22 and the lifting mechanism. The control unit 7 can control the operation of the horizontal rotation mechanism 21, the vertical rotation mechanism 22 and the lifting mechanism according to a preset program or real-time instructions.

[0025] As an optional implementation, the processing module includes a terrain mapping unit 8, a data processing unit 9 and an early warning unit 10. The data processing unit 9 will record the data changes of each measurement through the acoustic wave information transmitted and received by the multi-beam transducer 1, and analyze the scour deformation trend. If an abnormal or drastic change is found, the early warning unit 10 can issue an early warning signal to remind the user to conduct detailed inspection and maintenance of the specific area. The terrain mapping unit 8 will draw a two-dimensional or three-dimensional terrain map based on the measurement data, showing the terrain conditions of the monitored area and the scour deformation conditions of the foundation of the structure. Combined with historical measurement data, the system can further analyze the trend of terrain changes and the degree of scour deformation.

[0026] As an optional implementation, a rotatable underwater terrain monitoring system is equipped with one or more multi-beam transducers 1, and each multi-beam transducer 1 is placed at a different monitoring point, so as to expand the monitoring range.

[0027] A monitoring method and working steps of a rotatable underwater terrain monitoring system of the present invention: According to the underwater terrain measurement requirements, the measurement area range and the required rotation angle are set in advance in the processing module, and different measurement angles and rotation speeds can be set by the control unit 7 to ensure that the target area can be covered under different terrain conditions; Then, the control unit 7 of the rotating platform 2 is started, and the rotating platform 2 is started according to the set program, so that the multi-beam transducer 1 can transmit sound wave signals from different angles and receive echo signals. At the same time, the rotating platform 2 can control the multi-beam transducer 1 to adjust the rotation angle at a certain time interval or in real time to gradually scan the entire monitoring area; During the measurement process, the sound velocity meter 3 collects the sound velocity information of the current water body in real time, especially the influence of parameters such as water temperature, water pressure, and salinity on the sound velocity. The sound velocity compensation unit 4 will dynamically correct the propagation speed of the sound wave in the water according to the data of the sound velocity meter to ensure the same accuracy at different depths and areas during the measurement process; During the measurement process, the attitude meter 5 monitors the attitude changes of the multi-beam transducer 1 in real time, including the inclination angle, heading and rolling angle. If the platform or the water surface swings during the measurement process, the attitude meter 5 can feed back the attitude data to the attitude compensation unit 6 in real time, and the attitude compensation unit 6 will automatically perform data correction to eliminate the measurement error caused by the attitude change of the multi-beam transducer 1; After the multi-beam transducer 1 transmits sound waves at different angles, it receives echo signals and transmits the data to the data processing unit 9. The data processing unit 9 integrates the echo data, the data of the attitude meter 5 and the sound velocity meter 3 through an algorithm, processes the measurement errors, and generates accurate terrain data. The data includes information such as underwater depth, the shape of the foundation of the structure, and terrain changes.

[0028] The processed measurement data is used to draw a two-dimensional or three-dimensional topographic map through the terrain drawing unit 8, showing the topographic conditions of the monitored area and the scouring and deformation conditions of the foundation of the structure. Combined with the historical measurement data, the system can further analyze the trend of terrain changes and the degree of scouring and deformation.

[0029] At the same time, the system can be set to regular monitoring or real-time monitoring mode. During the continuous monitoring process, the system will record the data changes of each measurement and analyze the scour deformation trend. If abnormal or drastic changes are found, the system can issue an early warning signal to remind users to conduct detailed inspection and maintenance of specific areas.

[0030] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A rotatable underwater terrain monitoring system, characterized in that: It comprises a multi-beam transducer (1), a rotating pan-tilt platform (2) and a processing module, wherein: The rotating pan-tilt platform (2) is connected to the multi-beam transducer (1), and the multi-beam transducer (1) and the rotating pan-tilt platform (2) are both connected to the processing module; The multi-beam transducer (1) is used to transmit and receive sound wave information, and can transmit the received sound wave information to the processing module; The rotating pan-tilt platform (2) is installed on a measuring platform, and the rotating pan-tilt platform (2) can change the detection angle and detection depth of the multi-beam transducer (1); The processing module can control the operating state of the rotating pan-tilt platform (2), and the processing module can receive the sound wave information and draw a topographic map according to the sound wave information.

2. A rotatable underwater terrain monitoring system according to claim 1, characterized in that: It also comprises a sound velocity meter (3), wherein the sound velocity meter (3) is mounted on the multi-beam transducer (1) and the sound velocity meter (3) is connected to the processing module; The sound velocity meter (3) can monitor the underwater sound velocity change and transmit the sound velocity change data to the processing module, and the processing module can receive and process the sound velocity change data.

3. A rotatable underwater terrain monitoring system according to claim 2, characterized in that: The processing module comprises a sound speed compensation unit (4), the sound speed compensation unit (4) is connected to the sound speed meter (3), and the sound speed compensation unit (4) can receive and process the sound speed change data.

4. The rotatable underwater terrain monitoring system according to claim 1, characterized in that: It also includes an attitude meter (5), wherein the attitude meter (5) is mounted on the multi-beam transducer (1) and the attitude meter (5) is connected to the processing module; The attitude meter (5) is used to monitor the attitude of the multi-beam transducer (1) in real time, and can transmit attitude data to the processing module. The processing module can receive the attitude data and control the operation of the rotating pan-tilt platform (2) according to the attitude data.

5. A rotatable underwater terrain monitoring system according to claim 4, characterized in that: The processing module comprises a posture compensation unit (6), the posture compensation unit (6) is connected to the posture instrument (5), and the posture compensation unit (6) can receive the posture data and correct the posture data.

6. The rotatable underwater terrain monitoring system according to claim 1, characterized in that: The rotating pan-tilt platform (2) comprises a horizontal rotating mechanism (21), a vertical rotating mechanism (22) and a lifting mechanism; the horizontal rotating mechanism (21) is connected to the measuring platform; the horizontal rotating mechanism (21) is connected to the vertical rotating mechanism (22); the vertical rotating mechanism (22) is connected to the lifting mechanism; the lifting mechanism is connected to the multi-beam transducer (1); and the horizontal rotating mechanism (21), the vertical rotating mechanism (22) and the lifting mechanism are all connected to the processing module.

7. A rotatable underwater terrain monitoring system according to claim 6, characterized in that: The processing module comprises a control unit (7); the horizontal rotation mechanism (21), the vertical rotation mechanism (22) and the lifting mechanism are all connected to the control unit (7); and the control unit (7) can control the operation of the horizontal rotation mechanism (21), the vertical rotation mechanism (22) and the lifting mechanism.

8. The rotatable underwater terrain monitoring system according to claim 1, characterized in that: The processing module comprises a terrain mapping unit (8), a data processing unit (9) and an early warning unit (10).

9. The rotatable underwater terrain monitoring system according to claim 1, characterized in that: The rotatable underwater terrain monitoring system is configured with one or more multi-beam transducers (1).

Images