Sonar real-time detection device

Abstract

The utility model discloses a sonar real-time detection device which comprises an anti-corrosion sealing pipe, a signal receiving antenna, a solar power generation photovoltaic panel, a first floating body, a storage battery, a sonar position control device, a sonar, a second floating body, a rotatable connecting component and a submerged gravity block. The signal receiving antenna, the solar power generation photovoltaic panel, the first floating body and the storage battery are all arranged on the anti-corrosion sealing pipe, the sonar position control device is arranged at the bottom end of the anti-corrosion sealing pipe, the sonar is arranged on the sonar position control device, and the position of the sonar is adjusted through the sonar position control device; the rotatable connecting component is rotatably arranged on the anti-corrosion sealing pipe, the submerged gravity block is used for being submerged into water, and the second floating body is connected with the rotatable connecting component and the submerged gravity block through inhaul cables. The device can be used for monitoring the underwater construction area in real time.

Description

Technical Field

[0001] The utility model relates to underwater object detection, in particular to a sonar real-time detection device. Background Art

[0002] Many large-scale construction projects are carried out underwater, such as bridge construction and underwater submerged pipe docking. Once these projects are damaged, they will pose a huge threat to personal safety and the economy, and often require high monitoring technology. Therefore, it is necessary to develop a high-precision technology for real-time monitoring of underwater construction sites.

[0003] The underwater construction environment is complex and changeable. It is generally difficult to observe the underwater construction status with the naked eye, and electromagnetic wave signals decay quickly underwater. Therefore, radar, optical photography and other technologies based on electromagnetic wave transmission signals are difficult to meet the requirements of underwater construction. The propagation of sound wave signals in water decays slowly. Compared with underwater imaging detection technologies such as optical imaging, sonar imaging has the advantages of long detection distance, strong penetration ability, and applicability to turbid waters. Sound propagates in water at a speed of about 1.6 kilometers per second, so sonar detection technology is currently the best means to study underwater construction conditions. However, underwater sound waves are easily interfered by various factors. Many domestic and foreign researchers have also invested a lot of energy in research, but the technology is not yet mature and still faces many problems.

[0004] Most of the current cable-controlled remote-controlled underwater robots (ROVs) are mainly focused on basic functions such as underwater search, video recording, and detection, and require complex post-processing. They are unable to monitor the status of underwater submerged pipes in real time, and their accuracy and efficiency cannot be guaranteed.

[0005] Gou Zhengkang disclosed in Chinese invention patent CN114235127A a "side-scan sonar device for ocean detection", which has a structure including a shell and a side-scan sonar. An impeller groove is provided on the front wall of the shell, an impeller is provided in the impeller groove, a connecting rod is connected to the rear wall of the impeller, two block grooves are symmetrically provided at the rear end of the connecting rod, a limit assembly is provided in the block groove, a rotating rod is sleeved on the outer wall at the rear end of the connecting rod, the rear end of the rotating rod passes through the outer wall of the front side of the shell to the rear interior and is sleeved with a fan gear, a transmission assembly is penetrated above the fan gear, and a cleaning assembly is provided under the shell. By setting the cleaning assembly, the moving plate connected to the adjusting rod moves back and forth left and right, thereby making the scraper on the moving plate move back and forth left and right to clean the bottom surface of the shell, which can effectively prevent barnacles and the like from adhering to the bottom of the shell, so that the internal side-scan sonar can perform better detection. However, the device is difficult to be fixed within a certain range of the water surface for sonar scanning, and is easily disturbed by external forces; Li Yongjiang et al. disclosed in the Chinese invention patent CN114924279A a "marine fish school positioning and tracking device based on sonar", which includes a detection box, an infrared camera, a connecting rod, a mounting frame, and a detection device. The housing is mounted at the bottom of the mounting frame, and the driving motor is controlled to operate. The holding rotating member is engaged with the detection assembly, and the holding rotating member drives the detection assembly to rotate under the action of the driving motor. The detection assembly rotates on the annular groove, and multiple auxiliary connecting rods are connected to the main connecting rod through a swing rod. When a large-scale detection is carried out in the ocean, multiple auxiliary connecting rods are moved and opened on the adjustment guide, effectively increasing the detection range of the ocean. When it is necessary to concentrate on detecting a specified direction, multiple auxiliary detection sonars can cooperate with the main detection sonar to perform concentrated directional detection of the specified direction, effectively positioning and tracking the fish school in the ocean. However, the device requires multiple auxiliary sonars for detection, and the economic efficiency is low. In addition, the two existing devices mentioned above do not have a continuous and stable power supply device, and the battery needs to be replaced frequently, which affects work efficiency. Both devices are not designed with anti-corrosion materials, and the structure is easily corroded; both devices do not use sound-transparent protective materials, and the sonar scanning signal is easily interfered by the device itself; both devices cannot simultaneously satisfy the sonar's uniform rotation around its own central axis and uniform swing around the horizontal and vertical axes. Utility Model Content

[0006] In order to overcome at least one of the problems existing in the prior art, the utility model provides a sonar real-time detection device, which can detect the underwater construction status in real time, meet high-precision requirements, improve work efficiency and economic benefits, and by arranging solar power generation photovoltaic panels and batteries for providing electrical energy to the device, the photovoltaic panels receive solar energy and convert it into chemical energy and store it in the batteries below, which can provide stable electricity for the stable operation of the sonar detection device.

[0007] In order to achieve the purpose of the utility model, the utility model provides a sonar real-time detection device, including an anti-corrosion sealed tube, a signal receiving antenna, a solar power generation photovoltaic panel, a first float, a battery, a sonar position control device, a sonar, a second float, a rotatable connecting member and a submerged gravity block.

[0008] The signal receiving antenna, the solar power generation photovoltaic panel, the first floating body and the storage battery are all arranged on the anti-corrosion sealing tube, the sonar position control device is arranged at the bottom end of the anti-corrosion sealing tube, the sonar is arranged on the sonar position control device, and the position of the sonar is adjusted by the sonar position control device;

[0009] The rotatable connecting component is rotatably arranged on the anti-corrosion sealing tube, the submerged gravity block is used for sinking into the water, and the second floating body is respectively connected with the rotatable connecting component and the submerged gravity block through a cable.

[0010] The signal receiving antenna can be connected to the sonar through wires to realize signal transmission between the sonar and the sonar position control device and the outside world; after the sonar works, the scanning data signal will be transmitted through the antenna. At the same time, the outside world will feed back the signal command to the sonar position control device through data post-processing, and then adjust the sonar position accordingly. After the photovoltaic panel converts solar energy into electrical energy, it transmits the electrical energy to the battery for storage through the wires placed in the waterproof sealing tube. The first float is used to provide buoyancy to the device; when the device is acted upon by external force, the rotatable connecting member can rotate flexibly.

[0011] Furthermore, the antenna comprises a pure copper vibrator inner core and a high-quality glass fiber reinforced plastic outer shell.

[0012] Furthermore, the solar photovoltaic panel includes a single crystal positive A-grade battery chip, ultra-clear high-transmittance cloth-patterned glass, and an aluminum alloy frame.

[0013] Furthermore, the storage battery is used to store the energy generated by the solar photovoltaic panel, and the storage battery can transmit the stored energy to the sonar position control device through wires.

[0014] Furthermore, the solar photovoltaic panel is connected to a rotating bearing to change the light-aiming angle of the solar photovoltaic panel.

[0015] Furthermore, a sound-transmitting protective cover is provided on the outside of the sonar to provide protection while having little impact on the detection effect of the sonar device.

[0016] The sound-transmitting protective cover is in the shape of a filamentary sphere.

[0017] The sound-transmitting material of the sound-transmitting protective cover is made of carbon fiber composite material, including epoxy resin and T700 carbon fiber.

[0018] Furthermore, the rotatable connecting member, the submerged gravity block and the second floating body are all provided with hanging holes for connecting with the cable.

[0019] Furthermore, the first float is cylindrical, and the cylindrical float encased in a waterproof sealing tube has good stability; the second float is spherical.

[0020] Furthermore, the battery is located at the bottom of the anti-corrosion sealed tube, and being placed at the bottom of the device can produce better center of gravity stability. The battery can provide power for the operation of the entire device through the wires in the waterproof sealed tube.

[0021] Furthermore, the sonar position control device includes a horizontal movement control system, a rotation control system and a vertical control system connected in sequence, the horizontal movement control system is used to adjust the position of the sonar in the horizontal direction, the rotation control system is used to control the rotation of the sonar, and the vertical control system is used to adjust the position of the sonar in the vertical direction.

[0022] Furthermore, the horizontal movement control system includes a horizontal movement housing and a first motor, a first reduction gear set, a direct output transmission shaft, a first potentiometer, an indirect output transmission shaft and a first circuit board arranged in the horizontal movement housing. The first motor is fixed on the inner wall of the horizontal movement housing. The first motor is connected to the direct output transmission shaft through the first reduction gear set. The direct output transmission shaft is connected to the anti-corrosion sealing tube to drive the anti-corrosion sealing tube to rotate. The first potentiometer is arranged on the indirect output transmission shaft and connected to the direct output transmission shaft through the first reduction gear set. The first potentiometer is used to transmit voltage to the first circuit board to drive the first motor to work.

[0023] Furthermore, the rotation control system includes a rotation control housing and a second motor, a second reduction gear set, a rotation output shaft, an indirect shaft, a second potentiometer and a second circuit board arranged in the rotation control housing, the rotation control housing is fixedly connected to the horizontal moving housing, the second motor is fixed on the inner wall of the rotation control housing, the second motor is connected to the rotation output shaft through the second motor reduction gear set, the second potentiometer is an angle potentiometer, which is arranged on the indirect shaft, the indirect shaft is connected to the rotation output shaft through the second motor reduction gear set, and the rotation output shaft is connected to the vertical control system.

[0024] Furthermore, the vertical control system includes a vertical moving shell and a third motor, a third reduction gear group, a third potentiometer, a third circuit board, a rack and a vertical moving output shaft arranged in the vertical moving shell, the vertical moving shell is connected to the rotating output shaft, the third motor is fixed to the inner wall of the vertical moving shell, the third reduction gear group is connected to the output end of the third motor, the rack is connected to the output end of the third reduction gear group, the vertical moving output shaft is connected to the rack, and the vertical moving output shaft extends out of the vertical moving shell and is connected to the sonar.

[0025] Furthermore, it also includes a sonar fixing clamp, which is arranged between the vertically movable output shaft and the sonar.

[0026] Furthermore, the material of the float is hollow glass beads.

[0027] Furthermore, the sinking gravity block is made of an iron block, and an anti-corrosion coating material is provided on the outside.

[0028] The utility model is provided with a sonar for scanning the construction area, which is adjustable in angle and rotatable, and can realize tracking of the construction area in combination with a control device. An antenna is installed on the solar photovoltaic panel, which can receive and transmit signals. When the sonar is in operation, the scanning data is transmitted to the water operating system through the antenna, and the water operating system can monitor the underwater construction status in real time through a real-time post-processing program; similarly, after the water operating system restores the image of the sonar scanning data, if it finds that the scanning area has changed, it can return the control command to control the sonar scanning direction and angle.

[0029] The utility model can make the photovoltaic panel and antenna part of the device float on the water surface by arranging a floating block for providing buoyancy; by arranging a second floating body and a submerged gravity block for fixing the sonar within a certain range, the submerged gravity block sinks to the bottom of the water, and the second floating body floats on the water, and the two are connected by a cable; by arranging a rotatable connecting member, and the structure is connected to the second floating body by the cable, so that the sonar scanning device can still be maintained within a certain working range under the action of external force.

[0030] The utility model can prevent the device from being corroded by adopting corrosive materials; in addition, the use of a sound-transmitting protective cover can protect the sonar without affecting the detection accuracy of the sonar; the sonar position control device is set up to enable the sonar to rotate at a constant speed around its own central axis and swing at a constant speed around the horizontal and vertical axes.

[0031] The uniqueness of this utility model lies in that it can monitor the underwater construction status in real time with reliable accuracy, and can also track the underwater construction area to improve the work efficiency of underwater construction. The utility model device can also flexibly respond to different working environments and task requirements, not limited to underwater construction detection, but can also be used for underwater resources, geological exploration and marine engineering, etc., and has multifunctionality.

[0032] Compared with the prior art, the utility model has at least the following advantages and effects:

[0033] The utility model provides a sonar detection device that can be used for real-time monitoring of underwater construction sites, which can improve the accuracy and work efficiency of underwater construction. The sonar scanning data processing technology of the device can perform three-dimensional reconstruction of the underwater construction status in real time, which is convenient for supervision of the construction area. At the same time, it is equipped with a solar photovoltaic power generation device and a storage battery to continuously and stably provide power for the operation of the sonar detection device; in addition, through the control device, the sonar can work within a certain area. At the same time, the position of the sonar can be adjusted through the control device, and the construction area can be tracked, thereby improving the work efficiency of underwater construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of a sonar real-time detection device provided by an embodiment of the utility model;

[0035] Figure 2 This is a schematic diagram of the placement of batteries and controllers in the embodiment of the utility model;

[0036] Figure 3 This is a schematic diagram of a sonar control device in an embodiment of the utility model;

[0037] Figure 4 This is a schematic diagram of a sonar horizontal movement control system in an embodiment of the utility model;

[0038] Figure 5 This is a schematic diagram of a sonar vertical movement control system in an embodiment of the utility model;

[0039] Figure 6 This is a circuit diagram of the sonar detection control system in the embodiment of the utility model. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] like Figure 1 As shown, the utility model discloses a sonar detection device for real-time monitoring of underwater construction sites, the main components of which include a signal receiving antenna 1, a solar photovoltaic panel 2, a cylindrical float 3 sleeved in an anti-corrosion sealing tube, a rotatable connecting member 4, an anti-corrosion sealing tube 5, a battery 6, a sonar 7, a sonar position control device 8, a sound-transparent protective cover 9, a hanging hole 10, a cable 11, a second float 12 and a submerged gravity block 13.

[0042] A signal receiving antenna 1, a solar photovoltaic panel 2, a first float 3, a rotatable connecting member 4 and a battery 6 are sequentially arranged on the anti-corrosion sealed tube 5 from top to bottom. The signal receiving antenna 1 is located at the top of the anti-corrosion sealed tube 5, and the battery 6 is located at the bottom of the anti-corrosion sealed tube 5 and is surrounded by the anti-corrosion sealed tube 5. The sonar position control device 8 is located below the battery 6. The battery 6 is arranged inside the anti-corrosion sealed tube 5, and the anti-corrosion sealed tube 5 is built with wires and a controller. The battery 6 is used to store the energy generated by the solar photovoltaic panel 2. In addition, the battery 6 can transmit the stored energy to the sonar position control device 8 through wires, which can continuously and stably provide power for the operation of the device. A rotating bearing is arranged under the solar photovoltaic panel 2, which can be used to change the light angle of the solar photovoltaic panel 2. When the solar photovoltaic panel 2 is in operation, it converts solar energy into electrical energy, which is transmitted to the controller through the built-in wires of the anti-corrosion sealed tube 5, and then transmitted to the battery 6 through the wires. The placement position of the controller 15 is shown in the attached figure. Figure 2 15 , during the photovoltaic power generation process, the setting of the controller 15 can maximize the control of the stable charging of the battery 6 and maintain the service life of the battery 5 .

[0043] Solar photovoltaic panels can store solar energy in batteries, providing stable power for the operation of sonar detection devices; antennas can be used to receive and transmit signals; the sonar scanning angle and azimuth are adjustable, and can be regulated by the onshore operating system and the device control system through the antenna to track the construction area; in addition, the sonar scanning data can be quickly transmitted through the antenna, and then through the existing real-time imaging post-processing program, real-time monitoring of the underwater construction area can be achieved; the gravity block and the floating block, as well as the floating block and the device are connected together by cables, and the sinking gravity block sinks to the bottom of the water, so that the entire device can remain within a certain area to work.

[0044] In some embodiments of the present invention, the solar energy storage battery 6 is a colloid storage battery. This type of battery is maintenance-free and avoids frequent replacement, thereby improving work efficiency.

[0045] In some embodiments of the present invention, the anti-corrosion sealing tube 5 is made of super duplex stainless steel, which has high anti-corrosion properties. At the same time, the anti-corrosion sealing tube can prevent water from entering the tube.

[0046] In some embodiments of the present invention, the solar photovoltaic panel 2 uses a single crystal positive A-grade cell chip, and the single crystal cell chip is protected by ultra-white high-transmittance cloth-patterned glass, which has a high solar energy conversion efficiency and good weak light performance; the frame of the photovoltaic panel is made of aluminum alloy material, which has strong resistance performance;

[0047] The antenna 1 is placed above the solar photovoltaic panel 2. In some embodiments of the utility model, the antenna 1 adopts an omnidirectional antenna type fiberglass antenna, the inner core is a pure copper vibrator, balanced feeding is adopted, and it is less affected by the environment; the outer shell is made of high-quality fiberglass, has good three-proof characteristics, and is well adapted to the harsh natural environment. Through the built-in wires of the antenna and the anti-corrosion sealing tube 5, the signal transmission between the entire device and the outside world can be realized.

[0048] The cylindrical float 3 which is sleeved outside the anti-corrosion sealing tube 5 is located below the solar photovoltaic panel 2 and is used to provide buoyancy to the device. In some embodiments of the utility model, the float 3 is made of hollow glass beads, which are light in weight and have good waterproof properties. When sleeved outside the anti-corrosion sealing tube 5, it can maintain good stability.

[0049] The rotatable connecting member 4 and the second floating body 12, and the second floating body 12 and the submerged weight block 13 are connected by cables 11, respectively, and the second floating body 12 is located above the submerged weight block 13. The submerged weight block 13 is used to sink to the bottom of the water, and the submerged weight block 13 is connected to the second floating body 12 by the cables 11, so that the second floating body 12 can be kept moving within a very small range.

[0050] The second floating body 12 has a very small movement range, and this design enables the entire device to maintain operation in a certain working area.

[0051] In some embodiments of the present invention, the rotatable connecting member 4 , the second floating body 12 , and the submerged gravity block 13 are respectively provided with hanging holes 10 , and the ends of the cables 11 are fixed in the hanging holes 10 .

[0052] In some embodiments of the present invention, the internal material of the submerged gravity block 13 is an iron block, and the outside is an anti-corrosion coating material. The anti-corrosion coating material can be a water-based inorganic zinc-rich coating, which has excellent long-term corrosion resistance and can resist chemical corrosion in the pH range of 5.5 to 10.5 for a long time, and can protect the internal material.

[0053] In some embodiments of the present invention, the material of the second float 12 can be hollow glass beads, which can provide greater buoyancy and higher stability.

[0054] In some embodiments of the present invention, the cable 11 is made of high-strength steel and coated with an anti-corrosion material, such as super duplex stainless steel, on the outside, which has good corrosion resistance.

[0055] In some embodiments of the present invention, the rotatable connecting member 4 is structured like a sleeve, which is sleeved in a groove outside the anti-corrosion sealing tube 5 and can only rotate around the central axis of the anti-corrosion sealing tube 5 .

[0056] In some embodiments of the present invention, the outer surface of the rotatable connecting member 4 is coated with an anti-corrosion material.

[0057] The sonar position control device 8 is arranged below the battery 6 and is used to control the sonar 7 to adjust its position. The sonar position control device 8 can realize intelligent control of the scanning angle of the sonar 7 so as to facilitate tracking of underwater construction scanning.

[0058] The sonar 7 adopts a single-beam sounding sonar. After the sonar 7 is working, it will transmit the scanning data to the signal receiving antenna 1 through the wire, and the signal receiving antenna 1 will then transmit the signal to the land computer operating system. Through the existing computer language real-time imaging program, the sonar scanned acoustic landform can be reconstructed in real time; at the same time, the control signal can be fed back to the sonar position control device 8 through the antenna, and the sonar scanning area can be adjusted.

[0059] A sound-transmitting protective cover 9 is disposed on the outer side of the sonar 7 to protect the sonar 7. In some embodiments of the present invention, for ease of processing, the sound-transmitting protective cover 9 is connected to the edge of the anti-corrosion sealing tube 5 and surrounds the sonar 7 and the sonar position control device 8.

[0060] In some embodiments of the present invention, the material of the sound-transmitting protective cover 9 is a carbon fiber composite material, the carbon fiber composite material has epoxy resin as a matrix material and T700 carbon fiber as a reinforcing material, and has good sound-transmitting performance; the sound-transmitting protective cover 9 is made into a thin wire sphere and is used to protect the sonar 7. At the same time, it has good sound-transmitting performance and has little effect on the sonar scanning results.

[0061] Figure 2 The figure shows the arrangement of the battery and controller, including the battery 6, the positive and negative electrodes 14 of the battery, the controller 15, the positive and negative electrodes 16 of the controller, the wire 17, and the outer wall 18 of the anti-corrosion sealed tube 5. The controller 15 is arranged above the battery 6, and the two are connected by the wire 17 through their respective positive and negative electrodes 14 and 16, and then connected to the solar photovoltaic panel 2 through the wire 17; the battery 6, the controller 15 and the wire 17 are all located inside the outer wall 18 of the anti-corrosion sealed tube 5 to play a protective role.

[0062] Figure 3 The sonar 7, the sonar fixing clamp 19, and the sonar position control device 8 are shown as schematic diagrams ( Figure 3The right side of the figure is a schematic diagram of the internal structure of the control device. The sonar position control device 8 includes a horizontal movement control system 20, a rotation control system 21 and a vertical control system 22 connected in sequence. The sonar fixing clamp 19 is arranged on the vertical control system 22 to fix the sonar 7; the horizontal movement control system 20 can adjust the sonar 7 to different positions in the horizontal direction; the rotation control system 21 can control the sonar 7 to rotate at a constant speed around the output shaft of the rotation control system 21; and the vertical control system 22 can adjust the position of the sonar 7 in the vertical direction.

[0063] Figure 4 The figure shows a schematic diagram of a horizontal movement control system 20, which includes a horizontal movement housing and a first reduction gear set 23, a first potentiometer 24, a first circuit board 25, a first motor 26, a connecting wire 27, an indirect output transmission shaft and a direct output transmission shaft arranged in the horizontal movement housing. The first motor 26 is fixed to the inner wall of the horizontal movement housing through a motor frame. The first motor 26 is connected to the direct output transmission shaft through the first reduction gear set 23, and the direct output transmission shaft is connected to the anti-corrosion sealing tube 5. The first potentiometer 24 is an angle potentiometer, which is arranged on the indirect output transmission shaft and connected to the direct output transmission shaft through the first reduction gear set 23. The first potentiometer 24 changes the resistance value through the angle of rotation driven by the indirect output transmission shaft, and transmits the corresponding voltage to the first circuit board 25, thereby driving the first motor 26 to work, and driving the direct output shaft to rotate at a uniform speed through the first reduction gear set 23, thereby driving the anti-corrosion sealing tube 5 to rotate at a uniform speed, and then driving the sonar 7 to rotate at a uniform speed in the horizontal direction, so that the different positions of the sonar 7 at the same height can be changed. That is, the position of the sonar 7 in the horizontal direction can be adjusted as needed through the horizontal movement control system 20.

[0064] In some embodiments of the present invention, the first circuit board 25 is connected to the battery 6 via the connecting wire 27 to obtain electrical energy. At the same time, the signal receiving antenna 1 can transmit signals to the onshore operating system.

[0065] In some embodiments of the present invention, the first motor 26 is a DC motor. The first motor reduction gear set 23 is made of a copper and steel mixed gear, which can increase the torque of the system and improve the control accuracy.

[0066] The rotation control system 21 includes a rotation control housing and a second motor, a second reduction gear set, a rotation output shaft, an indirect shaft, a second potentiometer, and a second circuit board arranged in the rotation control housing. The rotation control housing is fixedly connected to the horizontal moving housing. The second motor is fixed to the inner wall of the rotation control housing through a motor fixing frame. The second motor is connected to the rotation output shaft through the second motor reduction gear set. The second potentiometer is an angle potentiometer, which is arranged on the indirect shaft. The indirect shaft is connected to the rotation output shaft through the second motor reduction gear set. The rotation output shaft is connected to the vertical control system 22. The connection and function of the second reduction gear set, the second potentiometer, the second circuit board and the second motor are the same Figure 4 After power is turned on, the second circuit board drives the second motor, and the second motor rotates, driving the second reduction gear set, and then driving the sonar 7 to rotate around the rotating output shaft at a constant speed through the rotating output shaft. At the same time, the second potentiometer is connected to the indirect output shaft, and the rotation of the indirect output shaft drives the second potentiometer to rotate, changing its resistance value, and then changing the line voltage.

[0067] Figure 5 The vertical movement control system 22 is shown as a schematic diagram of the structure. The vertical movement control system 22 includes a vertical movement housing and a third motor 32, a third reduction gear set 29, a third potentiometer 30, a third circuit board 31, a rack 28 and a vertical movement output shaft arranged in the vertical movement housing. The vertical movement housing is connected to the rotation output shaft in the rotation control system 21. The connection and function of the third reduction gear set 29, the third potentiometer 30, the third circuit board 31 and the third motor 32 are the same as those of the vertical movement control system 22. Figure 4 Similarly, the third motor 32 is fixed on the inner wall of the vertical moving housing through the motor frame, the third reduction gear set 29 is connected to the output end of the third motor 32, the third potentiometer 30 is an angle potentiometer, the rack 28 is connected to the output end of the third reduction gear set 29, the vertical moving output shaft is connected to the rack 28, and the vertical moving output shaft extends out of the vertical moving housing and is connected to the sonar fixing clamp 19. After the third motor 32 works and drives the third reduction gear set 29 to work, the rack 28 moves at a uniform speed along the length direction of the vertical moving output shaft, and then the sonar 9 can be driven to move at a uniform speed, so that the position of the sonar 9 in the height direction can be changed. At the same time, the third potentiometer 30 is connected to the indirect output shaft, and the rotation of the indirect output shaft drives the third potentiometer 30 to rotate, changing its resistance value, and then changing the line voltage.

[0068] In some embodiments of the present invention, the rack 28 is a rectangular straight tooth.

[0069] Through the above technical solutions, autonomous operation and control of sonar can be achieved, such as Figure 6As shown. First, after the sonar 7 obtains the detection data of the scanning area, it transmits the data to the antenna 1 through the wire, and the signal receiving antenna 1 transmits the signal to the computer operating system; the computer operating system reconstructs the acoustic landform of the sonar scanning area in real time through the computer language, and can monitor the position change of the detection area through the image data, and then feeds back the position information to the computer operating system; then, the computer operating system transmits the control signal to the signal receiving antenna 1, and then transmits the signal to the control circuit through the wire, driving the motor to rotate, and then driving the gear and rack transmission, the gear rotates to change the resistance value of the potentiometer, and then changes the voltage of the circuit, and the wire transmits the voltage value to the circuit, so that the direction of the sonar 7 can be continuously adjusted in this cycle; after the direction of the sonar 7 changes, the detection area also changes, and then new acoustic landform detection data is obtained, and then the new detection data is transmitted through the wire, and so on and so forth, the autonomous operation control of the sonar 7 can be realized.

[0070] The implementation methods of the present invention are not limited to the above-mentioned embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the protection scope of the present invention.

[0071] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that those skilled in the art can well understand and use the utility model.

Claims

1. A sonar real-time detection device, characterized in that: The invention comprises an anti-corrosion sealing tube (5), a signal receiving antenna (1), a solar photovoltaic panel (2), a first floating body (3), a storage battery (6), a sonar position control device (8), a sonar (7), a second floating body (12), a rotatable connecting member (4) and a submerged gravity block (13). The signal receiving antenna (1), the solar power generation photovoltaic panel (2), the first floating body (3) and the storage battery (6) are all arranged on the anti-corrosion sealing tube (5), the sonar position control device (8) is arranged at the bottom end of the anti-corrosion sealing tube (5), the sonar (7) is arranged on the sonar position control device (8), and the position of the sonar (7) is adjusted by the sonar position control device (8); The rotatable connecting member (4) is rotatably arranged on the anti-corrosion sealing tube (5); the submersible weight block (13) is used to sink into the water; and the second floating body (12) is respectively connected to the rotatable connecting member (4) and the submersible weight block (13) via a cable (11).

2. A sonar real-time detection device according to claim 1, characterized in that: The storage battery (6) is used to store the energy generated by the solar photovoltaic panel (2), and the storage battery (6) can transmit the stored energy to the sonar position control device (8) through electric wires.

3. A sonar real-time detection device according to claim 1, characterized in that: The solar photovoltaic panel (2) is connected to the rotary bearing to change the light-aiming angle of the solar photovoltaic panel (2).

4. A sonar real-time detection device according to claim 1, characterized in that: A sound-transmitting protective cover (9) is arranged on the outer side of the sonar (7).

5. A sonar real-time detection device according to claim 1, characterized in that: The rotatable connecting member (4), the submerged gravity block (13) and the second floating body (12) are all provided with hanging holes for connecting with the cable (11).

6. A sonar real-time detection device according to any one of claims 1 to 5, characterized in that: The sonar position control device (8) comprises a horizontal movement control system (20), a rotation control system (21) and a vertical control system (22) which are connected in sequence, wherein the horizontal movement control system (20) is used to adjust the position of the sonar (7) in the horizontal direction, the rotation control system (21) is used to control the rotation of the sonar (7), and the vertical control system (22) is used to adjust the position of the sonar (7) in the vertical direction.

7. A sonar real-time detection device according to claim 6, characterized in that: The horizontal movement control system (20) comprises a horizontal movement housing and a first motor (26), a first reduction gear set (23), a direct output transmission shaft, a first potentiometer (24), an indirect output transmission shaft and a first circuit board (25) arranged in the horizontal movement housing. The first motor (26) is fixed on the inner wall of the horizontal movement housing. The first motor (26) is connected to the direct output transmission shaft through the first reduction gear set (23). The direct output transmission shaft is connected to the anti-corrosion sealing tube (5) to drive the anti-corrosion sealing tube (5) to rotate. The first potentiometer (24) is arranged on the indirect output transmission shaft and is connected to the direct output transmission shaft through the first reduction gear set (23). The first potentiometer (24) is used to transmit voltage to the first circuit board (25) to drive the first motor (26) to work.

8. A sonar real-time detection device according to claim 7, characterized in that: The rotation control system (21) comprises a rotation control housing and a second motor, a second reduction gear set, a rotation output shaft, an indirect shaft, a second potentiometer and a second circuit board arranged in the rotation control housing. The rotation control housing is fixedly connected to the horizontal moving housing. The second motor is fixed on the inner wall of the rotation control housing. The second motor is connected to the rotation output shaft via the second motor reduction gear set. The second potentiometer is an angle potentiometer arranged on the indirect shaft. The indirect shaft is connected to the rotation output shaft via the second motor reduction gear set. The rotation output shaft is connected to the vertical control system (22).

9. A sonar real-time detection device according to claim 6, characterized in that: The vertical control system (22) comprises a vertical moving housing and a third motor (32), a third reduction gear set (29), a third potentiometer (30), a third circuit board (31), a rack (28) and a vertical moving output shaft arranged in the vertical moving housing. The vertical moving housing is connected to the rotating output shaft, the third motor (32) is fixed to the inner wall of the vertical moving housing, the third reduction gear set (29) is connected to the output end of the third motor (32), the rack (28) is connected to the output end of the third reduction gear set (29), the vertical moving output shaft is connected to the rack (28), and the vertical moving output shaft extends out of the vertical moving housing and is connected to the sonar (7).

10. A sonar real-time detection device according to claim 7, characterized in that: It also includes a sonar fixing clamp (19), which is arranged between the vertically movable output shaft and the sonar (7).

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