A wide river underwater stratum geology and obstacle high-precision combined detection system

Abstract

The utility model provides a wide river underwater stratum geology and obstacle high accuracy joint detection system, wherein the sound parametric array geological sound wave detector utilizes sound parametric array technology to carry out high accuracy joint detection; the cruise ship body is double -power joint ship body, can provide the strong power of navigation, and cruise data storage and control integrated module can change the cruise direction according to the heading sensor feedback data, real -time control left and right ship body driver, and navigation video recorder can record the navigation condition of joint detection device; the detector video monitoring camera is used for observing the implementation situation of sound parametric array geological sound wave detector in the detection process; high accuracy navigation positioning module utilizes high accuracy navigation technology to cooperate double -power joint ship body and carries out joint detection; handheld operation remote control terminal is the remote control terminal of joint detection device. The utility model can carry out high accuracy joint detection to wide river underwater stratum geology and obstacle, and improves reliable support for the smooth development of subway shield construction.

Description

Technical Field

[0001] This utility model relates to the field of subway tunnel construction technology, and particularly to the field of geological and obstacle detection technology, specifically a high-precision joint detection system for underwater geological and obstacle detection in wide rivers. Background Technology

[0002] Subway tunnel boring machine (TBM) construction technology primarily relies on advanced full-face tunnel boring equipment to advance underground construction. However, during the tunneling process, the presence of unknown geological conditions and obstacles can often affect the TBM's progress. Therefore, advanced geological and obstacle detection should be conducted before the TBM traverses the strata. Rivers with a width exceeding 100 meters typically exhibit complex underwater environments, large river widths, and high water levels, making advanced geological and obstacle detection and monitoring particularly challenging.

[0003] Currently, existing equipment and technologies for geological and obstacle detection before shield tunneling are mainly used for land geological and obstacle detection. However, advanced geological and obstacle detection in complex underwater environments of wide rivers is still imperfect and the technology is limited.

[0004] Therefore, there is an urgent need to design a high-precision joint detection system for underwater geological strata and obstacles in wide rivers, which can conduct high-precision joint detection of underwater geological strata and obstacles in wide rivers, and provide reliable support for the smooth progress of subway tunnel construction. Utility Model Content

[0005] In order to overcome the shortcomings of the prior art, one objective of this utility model is to provide a high-precision joint detection system for underwater geological strata and obstacles in wide rivers. This system can perform high-precision joint detection of underwater geological strata and obstacles in wide rivers, providing reliable support for the smooth progress of subway tunnel construction and is suitable for large-scale application.

[0006] To achieve the above objectives, this utility model provides a high-precision joint detection system for underwater geological strata and obstacles in wide rivers. Its features include a high-precision joint detection device for underwater geological strata and obstacles in wide rivers and a handheld remote control terminal, wherein:

[0007] The high-precision joint detection device for underwater strata geology and obstacles in wide rivers includes a high-stability unmanned powered cruise component on the water surface and a detection component for underwater strata geology and obstacles in wide rivers.

[0008] The high-stability unmanned powered cruise component includes a cruise hull, a left connecting rod, a right connecting rod, a left hull actuator, a right hull actuator, a heading sensor, a navigation video recorder, a high-precision navigation and positioning module, a cruise data storage and control integration module, an information transmission antenna, a detector video monitoring camera, and a power supply. The cruise hull includes a left hull, a right hull, and a hollow connecting bridge. Both the left and right hulls are vertically oriented and spaced apart horizontally. The hollow connecting bridge is positioned horizontally between the left and right hulls and connects them. The left and right connecting rods are vertically oriented and spaced apart horizontally. The upper ends of the left and right connecting rods are located below the rear ends of the left and right hulls, respectively, and connect to the rear ends of the left and right hulls. The left and right hull actuators are mounted on the lower ends of the left and right connecting rods, respectively. The heading sensor... The sensor, the navigation video recorder, and the high-precision navigation and positioning module are all mounted on the upper surface of the hollow connecting bridge. The cruise data storage and control integration module is mounted on the upper surface of the left hull and the upper surface of the hollow connecting bridge. The information transmission antenna is vertically mounted on the rear end of the right hull. The detector video monitoring camera is located below and connected to the lower surface of the hollow connecting bridge. The power supply is located inside the cruise ship and is electrically connected to the left hull driver, the right hull driver, the heading sensor, the navigation video recorder, the high-precision navigation and positioning module, the cruise data storage and control integration module, the information transmission antenna, and the detector video monitoring camera. The cruise data storage and control integration module is signal-connected to the left hull driver, the right hull driver, the heading sensor, the navigation video recorder, the high-precision navigation and positioning module, the information transmission antenna, and the detector video monitoring camera.

[0009] The underwater geological and obstacle detection component for the wide river includes an acoustic parametric array (APA) geological acoustic wave detector and a detection data storage and control integration module. The APA geological acoustic wave detector is vertically arranged and located below and connected to the lower surface of the hollow connecting bridge plate. The lower end of the APA geological acoustic wave detector is the detection end. The detection data storage and control integration module is respectively arranged on the upper surface of the right hull and the upper surface of the hollow connecting bridge plate. The power supply is also electrically connected to the APA geological acoustic wave detector and the detection data storage and control integration module. The detection data storage and control integration module is signal-connected to the APA geological acoustic wave detector and the information transmission antenna.

[0010] The handheld remote control terminal is connected to the information transmission antenna.

[0011] Preferably, the hollow connecting bridge is located between the top of the mid-rear section of the left hull and the top of the mid-rear section of the right hull, and connects the top of the mid-rear section of the left hull and the top of the mid-rear section of the right hull, respectively.

[0012] Preferably, the heading sensor is positioned at the center of the upper surface of the hollow connecting bridge plate, the navigation video recorder is located in front of the heading sensor, the high-precision navigation and positioning module is located behind the heading sensor, the cruise data storage and control integration module is located to the left of the heading sensor, and the detection data storage and control integration module is located to the right of the heading sensor.

[0013] Preferably, the acoustic parametric array geosonic detector is located below and connected to the center of the lower surface of the hollow connecting bridge plate, and the detector's video monitoring camera is located behind the acoustic parametric array geosonic detector.

[0014] Preferably, the left hull drive includes a left propeller, a left propeller drive motor, and a left horizontal rotation motor. The left propeller is vertically positioned and arranged along the left-right direction. The left propeller drive motor is located in front of the left propeller and connected to the left propeller to drive the left propeller to rotate around the front-rear direction. The left horizontal rotation motor is mounted on the lower end of the left connecting rod and connected to the left propeller drive motor to drive the left propeller drive motor to rotate horizontally. The power supply is electrically connected to both the left propeller drive motor and the left horizontal rotation motor. The cruise data storage and control integrated module is signal-connected to both the left propeller drive motor and the left horizontal rotation motor.

[0015] Preferably, the high-stability unmanned powered cruise component further includes a left lifting drive, which is located below the rear end of the left hull and installed at the rear end of the left hull and connected to the upper end of the left connecting rod for raising and lowering the upper end of the left connecting rod. The power supply is also electrically connected to the left lifting drive, and the cruise data storage and control integration module is also signal-connected to the left lifting drive.

[0016] Preferably, the right hull drive includes a right propeller, a right propeller drive motor, and a right horizontal rotation motor. The right propeller is vertically positioned and arranged along the left-right direction. The right propeller drive motor is located in front of the right propeller and connected to the right propeller to drive the right propeller to rotate around the front-rear direction. The right horizontal rotation motor is mounted on the lower end of the right connecting rod and connected to the right propeller drive motor to drive the right propeller drive motor to rotate horizontally. The power supply is electrically connected to both the right propeller drive motor and the right horizontal rotation motor. The cruise data storage and control integration module is signal-connected to both the right propeller drive motor and the right horizontal rotation motor.

[0017] Preferably, the high-stability unmanned powered cruise component further includes a right lift driver, which is located below the rear end of the right hull and installed at the rear end of the right hull and connected to the upper end of the right connecting rod for raising and lowering the upper end of the right connecting rod. The power supply is also electrically connected to the right lift driver, and the cruise data storage and control integration module is also signal-connected to the right lift driver.

[0018] Preferably, the acoustic parametric array geosonic detector includes a detector support, a transducer support, an attitude sensor, a vertical attitude adjustment driver, a transducer, and an acoustic wave transmitting and receiving end. The detector support is vertically arranged and located below and connected to the lower surface of the hollow connecting bridge plate. The transducer support is vertically arranged and rotatably disposed within the detector support in the left-right direction. The attitude sensor is located behind and connected to the transducer support. The vertical attitude adjustment driver is mounted on the detector support and connected to the transducer support to drive the transducer support to rotate in the left-right direction. The transducer is vertically arranged and located below and connected to the transducer support. The acoustic wave transmitting and receiving end is vertically arranged and located below and connected to the transducer. The power supply is electrically connected to the attitude sensor, the vertical attitude adjustment driver, and the transducer. The detection data storage and control integrated module is signal-connected to the transducer, the attitude sensor, and the vertical attitude adjustment driver.

[0019] More preferably, the acoustic parametric array geological acoustic wave detector further includes a detector horizontal rotation drive unit, which is located below the lower surface of the hollow connecting bridge plate and installed on the lower surface of the hollow connecting bridge plate and connected to the detector bracket for driving the detector bracket to rotate horizontally. The power supply is also electrically connected to the detector horizontal rotation drive unit, and the detection data storage and control integrated module is also signal-connected to the detector horizontal rotation drive unit.

[0020] The main beneficial effects of this utility model are as follows:

[0021] This invention relates to an acoustic parametric array (APA) geological acoustic wave detector for high-precision joint detection of underwater strata geology and obstacles in wide rivers. The system utilizes APA technology for high-precision joint detection of underwater strata geology and obstacles. The cruise hull is a dual-powered combined hull, providing powerful propulsion. The cruise data storage and control integration module can control the left and right hull actuators in real time to change the cruise direction based on feedback data from the heading sensor. A navigation video recorder records the navigation of the joint detection device. The detector's video monitoring camera is mainly used to observe the implementation of the APA geological acoustic wave detector during the detection process. A high-precision navigation and positioning module utilizes high-precision navigation (e.g., BeiDou satellite navigation) technology to cooperate with the dual-powered combined hull for joint detection of underwater strata geology and obstacles. A handheld remote control terminal serves as the remote control terminal for the joint detection device, allowing adjustment of navigation parameters, reception and transmission of relevant signals, and monitoring and adjustment of the navigation attitude and the working attitude of the APA geological acoustic wave detector. Therefore, it can perform high-precision joint detection of underwater strata geology and obstacles in wide rivers, providing reliable support for the smooth progress of subway tunnel construction and is suitable for large-scale application.

[0022] These and other objects, features and advantages of this utility model will be fully apparent from the following detailed description and drawings, and can be achieved by the means, devices and combinations thereof specifically pointed out in the description of the utility model. Attached Figure Description

[0023] Figure 1 This is a three-dimensional schematic diagram of a specific embodiment of the high-precision joint detection system for underwater strata and obstacles in wide rivers, according to this utility model.

[0024] Figure 2 yes Figure 1 The diagram shows a front view of a high-precision joint detection device for underwater geological formations and obstacles in a wide river, representing a specific embodiment.

[0025] Figure 3 yes Figure 1 The diagram shown is a right-side view of a high-precision joint detection device for underwater geological formations and obstacles in a wide river, representing a specific embodiment.

[0026] Figure 4 yes Figure 1 The diagram shows a rear view of a high-precision joint detection device for underwater geological formations and obstacles in a wide river, representing a specific embodiment.

[0027] Figure 5 yes Figure 1The diagram shows a three-dimensional representation of the acoustic parametric array geological acoustic wave detector of a high-precision joint detection device for underwater strata geology and obstacles in a wide river, according to a specific embodiment.

[0028] Figure 6 yes Figure 1 The diagram shows a top view of a handheld remote control terminal according to a specific embodiment.

[0029] (Symbol Explanation)

[0030] 1. High-precision joint detection device for underwater strata geology and obstacles in wide rivers; 2. Handheld remote control terminal; 3. High-stability unmanned powered cruise component on the water surface; 4. Detection component for underwater strata geology and obstacles in wide rivers; 5. Cruise hull; 6. Left connecting rod; 7. Right connecting rod; 8. Left hull actuator; 9. Right hull actuator; 10. Heading sensor; 11. Navigation video recorder; 12. High-precision navigation and positioning module; 13. Cruise data storage and control integrated module; 14. Information transmission antenna; 15. Detector video monitoring camera; 16. Left hull; 17. Right hull; 18. Hollow connecting bridge plate. ; 19 Acoustic parametric array geological acoustic wave detector; 20 Detection data storage and control integrated module; 21 Left propeller; 22 Left propeller drive motor; 23 Left horizontal rotation motor; 24 Left lifting driver; 25 Right propeller; 26 Right propeller drive motor; 27 Right horizontal rotation motor; 28 Right lifting driver; 29 Detector bracket; 30 Transducer bracket; 31 Attitude sensor; 32 Vertical attitude adjustment driver; 33 Transducer; 34 Acoustic wave transmitter and receiver; 35 Detector horizontal rotation drive unit; 36 Protective components; 37 Protective plate; 38 Protective rod; 39 Through hole. Detailed Implementation

[0031] In order to better understand the technical content of this utility model, the following embodiments are provided for detailed description.

[0032] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0033] Please see Figures 1-6 As shown, in a specific embodiment of this utility model, the high-precision joint detection system for underwater strata geology and obstacles in wide rivers includes a high-precision joint detection device 1 for underwater strata geology and obstacles in wide rivers and a handheld remote control terminal 2, wherein:

[0034] The high-precision joint detection device 1 for underwater geological formations and obstacles in wide rivers includes a high-stability unmanned powered cruise component 3 and an underwater geological formation and obstacle detection component 4.

[0035] The high-stability unmanned powered cruise component 3 includes a cruise hull 5, a left connecting rod 6, a right connecting rod 7, a left hull actuator 8, a right hull actuator 9, a heading sensor 10, a navigation video recorder 11, a high-precision navigation and positioning module 12, a cruise data storage and control integrated module 13, an information transmission antenna 14, a detector video monitoring camera 15, and a power supply (not shown in the figure). The cruise hull 5 includes a left hull 16, a right hull 17, and a hollow connecting bridge 18. The left hull 16 and the right hull 17 are both vertically arranged and positioned along the front-to-back direction, and are spaced apart from each other on the left and right sides. The hollow connecting bridge 18... A connecting bridge plate 18 is arranged in the left-right direction and located between the left hull 16 and the right hull 17, connecting the left hull 16 and the right hull 17 respectively. The left connecting rod 6 and the right connecting rod 7 are both vertically arranged and spaced apart from each other. The upper ends of the left connecting rod 6 and the right connecting rod 7 are located below the rear ends of the left hull 16 and the right hull 17 respectively, connecting the rear ends of the left hull 16 and the right hull 17 respectively. The left hull actuator 8 and the right hull actuator 9 are respectively installed at the lower ends of the left connecting rod 6 and the right connecting rod 7. The heading sensor 10, the navigation video recorder 11, and the high-precision navigation and positioning module 12 are all mounted on the upper surface of the hollow connecting bridge plate 18. The cruise data storage and control integration module 13 is mounted on the upper surface of the left hull 16 and the upper surface of the hollow connecting bridge plate 18, respectively. The information transmission antenna 14 is vertically mounted on the rear end of the right hull 17. The detector video monitoring camera 15 is located below and connected to the lower surface of the hollow connecting bridge plate 18. The power supply is located inside the cruise hull 5 and electrically connected to the hollow connecting bridge plate 18. The left hull actuator 8, the right hull actuator 9, the heading sensor 10, the navigation video recorder 11, the high-precision navigation and positioning module 12, the cruise data storage and control integration module 13, the information transmission antenna 14, and the detector video monitoring camera 15 are all connected to the left hull actuator 8, the right hull actuator 9, the heading sensor 10, the navigation video recorder 11, the high-precision navigation and positioning module 12, the information transmission antenna 14, and the detector video monitoring camera 15.

[0036] The underwater geological and obstacle detection component 4 of the wide river includes an acoustic parametric array geological acoustic detector 19 and a detection data storage and control integration module 20. The acoustic parametric array geological acoustic detector 19 is vertically arranged and located below and connected to the lower surface of the hollow connecting bridge plate 18. The lower end of the acoustic parametric array geological acoustic detector 19 is the detection end. The detection data storage and control integration module 20 is respectively arranged on the upper surface of the right hull 17 and the upper surface of the hollow connecting bridge plate 18. The power supply is also electrically connected to the acoustic parametric array geological acoustic detector 19 and the detection data storage and control integration module 20. The detection data storage and control integration module 20 is signal connected to the acoustic parametric array geological acoustic detector 19 and the information transmission antenna 14.

[0037] The handheld remote control terminal 2 is connected to the information transmission antenna 14.

[0038] With the above configuration, the hollow connecting bridge plate 18 connects the left hull 16 and the right hull 17, and its upper and lower surfaces are used for the installation of multiple devices, while its hollow interior can also be used to arrange cables.

[0039] The left hull 16 and the right hull 17 can have any suitable shape. In a specific embodiment of this utility model, the left hull 16 and the right hull 17 are both hydrodynamic hulls, that is, hulls that conform to hydrodynamics, or streamlined hulls.

[0040] The high-precision navigation and positioning module 12 can be any suitable high-precision navigation and positioning module. In a specific embodiment of this utility model, the high-precision navigation and positioning module 12 is a Beidou satellite navigation and positioning module.

[0041] The hollow connecting bridge 18 is located between the left hull 16 and the right hull 17 and connects the left hull 16 and the right hull 17 respectively. It can be located between any suitable position on the left hull 16 and any suitable position on the right hull 17 and connects to any suitable position on the left hull 16 and any suitable position on the right hull 17 respectively. See [link / reference] Figures 1-2 and Figure 4 As shown, in a specific embodiment of this utility model, the hollow connecting bridge plate 18 is located between the top of the middle and rear part of the left hull 16 and the top of the middle and rear part of the right hull 17, and respectively connects the top of the middle and rear part of the left hull 16 and the top of the middle and rear part of the right hull 17.

[0042] The heading sensor 10, the flight video recorder 11, the high-precision navigation and positioning module 12, the cruise data storage and control integration module 13, and the detection data storage and control integration module 20 can have any suitable mutual positional relationship. Please refer to [link / reference]. Figures 1-4 As shown, in a specific embodiment of this utility model, the heading sensor 10 is disposed at the center of the upper surface of the hollow connecting bridge plate 18, the navigation video recorder 11 is located in front of the heading sensor 10, the high-precision navigation and positioning module 12 is located behind the heading sensor 10, the cruise data storage and control integration module 13 is located to the left of the heading sensor 10, and the detection data storage and control integration module 20 is located to the right of the heading sensor 10.

[0043] The acoustic parametric array geological acoustic wave detector 19 and the detector video monitoring camera 15 can have any suitable relative position. Please refer to [link / reference]. Figure 4 As shown, in a specific embodiment of this utility model, the acoustic parametric array geological acoustic wave detector 19 is located below and connected to the center position of the lower surface of the hollow connecting bridge plate 18, and the detector video monitoring camera 15 is located behind the acoustic parametric array geological acoustic wave detector 19.

[0044] The left hull drive 8 can have any suitable configuration; please refer to [link / reference]. Figure 2 As shown, in a specific embodiment of this utility model, the left hull drive 8 includes a left propeller 21, a left propeller drive motor 22, and a left horizontal rotation motor 23. The left propeller 21 is vertically arranged and arranged along the left-right direction. The left propeller drive motor 22 is located in front of the left propeller 21 and connected to the left propeller 21 to drive the left propeller 21 to rotate around the front-back direction. The left horizontal rotation motor 23 is installed at the lower end of the left connecting rod 6 and connected to the left propeller drive motor 22 to drive the left propeller drive motor 22 to rotate horizontally. The power supply is electrically connected to the left propeller drive motor 22 and the left horizontal rotation motor 23 respectively. The cruise data storage and control integrated module 13 is signal-connected to the left propeller drive motor 22 and the left horizontal rotation motor 23 respectively.

[0045] The highly stable unmanned powered cruise component 3 on the water surface can also include any other suitable components; please refer to [link / reference needed]. Figure 4As shown, in a specific embodiment of this utility model, the water surface high-stability unmanned powered cruise component 3 further includes a left lifting drive 24. The left lifting drive 24 is located below the rear end of the left hull 16 and is installed at the rear end of the left hull 16 and connected to the upper end of the left connecting rod 6 for lifting the upper end of the left connecting rod 6. The power supply is also electrically connected to the left lifting drive 24, and the cruise data storage and control integrated module 13 is also signal-connected to the left lifting drive 24.

[0046] The left lifting driver 24 can be any suitable lifting driver. In a specific embodiment of this utility model, the left lifting driver 24 is a lifting motor.

[0047] The right hull drive 9 can have any suitable configuration; please refer to [link / reference]. Figures 2-3 As shown, in a specific embodiment of this utility model, the right hull drive 9 includes a right propeller 25, a right propeller drive motor 26, and a right horizontal rotation motor 27. The right propeller 25 is vertically arranged and arranged along the left-right direction. The right propeller drive motor 26 is located in front of the right propeller 25 and connected to the right propeller 25 to drive the right propeller 25 to rotate around the front-rear direction. The right horizontal rotation motor 27 is installed at the lower end of the right connecting rod 7 and connected to the right propeller drive motor 26 to drive the right propeller drive motor 26 to rotate horizontally. The power supply is electrically connected to the right propeller drive motor 26 and the right horizontal rotation motor 27 respectively. The cruise data storage and control integration module 13 is signal connected to the right propeller drive motor 26 and the right horizontal rotation motor 27 respectively.

[0048] The highly stable unmanned powered cruise component 3 on the water surface can also include any other suitable components; please refer to [link / reference needed]. Figure 4 As shown, in a specific embodiment of this utility model, the water surface high-stability unmanned powered cruise component 3 further includes a right lifting driver 28. The right lifting driver 28 is located below the rear end of the right hull 17 and is installed at the rear end of the right hull 17 and connected to the upper end of the right connecting rod 7 for raising and lowering the upper end of the right connecting rod 7. The power supply is also electrically connected to the right lifting driver 28, and the cruise data storage and control integrated module 13 is also signal-connected to the right lifting driver 28.

[0049] The right lifting driver 28 can be any suitable lifting driver. In one specific embodiment of this utility model, the right lifting driver 28 is a lifting motor.

[0050] The acoustic parametric array geosonic detector 19 can have any suitable configuration; please refer to [link / reference]. Figure 5As shown, in a specific embodiment of this utility model, the acoustic parametric array geological acoustic wave detector 19 includes a detector support 29, a transducer support 30, an attitude sensor 31, a vertical attitude adjustment driver 32, a transducer 33, and an acoustic wave transmitting and receiving end 34. The detector support 29 is vertically arranged and located below and connected to the lower surface of the hollow connecting bridge plate 18. The transducer support 30 is vertically arranged and rotatably arranged in the detector support 29 around the left and right directions. The attitude sensor 31 is located behind and connected to the transducer support 30. The vertical attitude adjustment driver... The actuator 32 is mounted on the detector bracket 29 and connected to the transducer bracket 30 to drive the transducer bracket 30 to rotate around the left and right direction. The transducer 33 is vertically arranged and located below the transducer bracket 30 and connected to the transducer bracket 30. The acoustic wave transmitting and receiving end 34 is vertically arranged and located below the transducer 33 and connected to the transducer 33. The power supply is electrically connected to the attitude sensor 31, the vertical attitude adjustment driver 32 and the transducer 33 respectively. The detection data storage and control integrated module 20 is signal-connected to the transducer 33, the attitude sensor 31 and the vertical attitude adjustment driver 32 respectively.

[0051] With the above configuration, the attitude sensor 31 and the vertical attitude adjustment driver 32 are mainly used to monitor and adjust the attitude of the transducer 33, ensuring that the transducer 33 always maintains a vertical attitude, thereby ensuring that the acoustic wave transmitting and receiving end 34 always maintains vertical detection. Specifically, the attitude sensor 31 senses the actual attitude of the transducer 33 and sends relevant signals to the detection data storage and control integration module 20. If the actual attitude of the transducer 33 is not vertical, the detection data storage and control integration module 20 sends a control signal to the vertical attitude adjustment driver 32 to control the vertical attitude adjustment driver 32 to drive the transducer bracket 30 to rotate around the left and right direction, thereby adjusting the attitude of the transducer 33 until the actual attitude of the transducer 33 is vertical.

[0052] The vertical attitude adjustment driver 32 can be any suitable vertical attitude adjustment driver. In a specific embodiment of this utility model, the vertical attitude adjustment driver 32 is a vertical attitude adjustment motor.

[0053] The acoustic parametric array geosonic detector 19 may also include any other suitable configurations; please refer to [link to documentation]. Figure 5As shown, in a specific embodiment of this utility model, the acoustic parametric array geological acoustic wave detector 19 further includes a detector horizontal rotation drive unit 35. The detector horizontal rotation drive unit 35 is located below the lower surface of the hollow connecting bridge plate 18 and is installed on the lower surface of the hollow connecting bridge plate 18 and connected to the detector bracket 29 for driving the detector bracket 29 to rotate horizontally. The power supply is also electrically connected to the detector horizontal rotation drive unit 35, and the detection data storage and control integrated module 20 is also signal-connected to the detector horizontal rotation drive unit 35.

[0054] The detector horizontal rotation drive unit 35 can be any suitable detector horizontal rotation drive unit. In a specific embodiment of this utility model, the detector horizontal rotation drive unit 35 is a detector horizontal rotation motor.

[0055] The acoustic parametric array geosonic detector 19 may also include any other suitable configurations; please refer to [link to documentation]. Figure 5 As shown, in a specific embodiment of this utility model, the acoustic parametric array geological acoustic wave detector 19 further includes a protective component 36. The protective component 36 includes a protective plate 37 and a protective rod 38. The protective plate 37 is horizontally arranged and located below the acoustic wave transmitting and receiving end 34. The protective rod 38 is vertically arranged and located between the transducer 33 and the protective plate 37, and is respectively connected to the transducer 33 and the protective plate 37. There are multiple protective rods 38, which are horizontally arranged around the acoustic wave transmitting and receiving end 34 at intervals. The protective plate 37 is vertically provided with a through hole 39, which is located directly below the acoustic wave transmitting and receiving end 34.

[0056] The number of the protective rods 38 can be determined as needed. The term "multiple rods" refers to two or more rods. In a specific embodiment of this utility model, the number of the protective rods 38 is four, and the four protective rods 38 are distributed at the four corners of a rectangle.

[0057] The acoustic parametric array geological acoustic wave detector 19 of this utility model utilizes acoustic parametric array technology to carry out high-precision joint detection of underwater strata geology and obstacles.

[0058] The cruise hull 5 is a dual-powered combined hull that can provide powerful propulsion for navigation. The cruise data storage and control integration module 13 can control the left hull drive 8 and the right hull drive 9 to change the cruise direction in real time based on the feedback data from the heading sensor 10, ensuring the accuracy of the navigation detection route and the stability of the combined detection device. This can effectively improve the working stability of the acoustic parametric array geological acoustic wave detector 19 (more specifically, transducer 33) during the detection process.

[0059] The navigation video recorder 11 records the navigation status of the joint detection device and sends the navigation status to the cruise data storage and control integration module 13. Then, it is remotely transmitted to the handheld operation remote control terminal 2 via the information transmission antenna 14, and can be displayed in real time on the display screen of the handheld operation remote control terminal 2. The detector video monitoring camera 15 is mainly used to observe the implementation status of the acoustic parametric array geological acoustic wave detector 19 during the detection process, and sends the video data to the detection data storage and control integration module 20. Then, it is remotely transmitted to the handheld operation remote control terminal 2 via the information transmission antenna 14, and can be observed in real time on the display screen of the handheld operation remote control terminal 2.

[0060] The high-precision navigation and positioning module 12 uses high-precision navigation (such as Beidou satellite navigation) technology to cooperate with the dual-powered joint hull to carry out joint underwater geological and obstacle detection. It is used to accurately plan the surface cruise detection route and locate the data collected by the acoustic parametric array geological acoustic wave detector 19 in real time, so as to ensure the accuracy of joint geological data collection and facilitate subsequent analysis of underwater geological conditions and obstacle locations.

[0061] The handheld remote control terminal 2 is the remote control terminal of the high-precision joint detection device 1 for underwater geological strata and obstacles in wide rivers. It includes a display, processor and signal receiving and transmitting module, similar to a tablet computer. Navigation parameters can be adjusted on the terminal. It can receive and transmit relevant signals with the information transmission antenna 14 through its signal receiving and transmitting module, and monitor and adjust the navigation attitude and the working attitude of the acoustic parametric array geological acoustic wave detector 19.

[0062] The method for conducting high-precision joint detection of underwater strata geology and obstacles in wide rivers using the high-precision joint detection system of this invention may include the following steps:

[0063] Step one: First, measure the river flow velocity, calculate the heading angle and speed control of the acoustic parametric array geological acoustic wave detector 19 based on the flow velocity, and then place the joint detection device on the near-shore water surface to begin equipment debugging.

[0064] Step two: Before officially starting the exploration, based on the actual engineering construction scope, the joint exploration principle of vertical and horizontal intersection (horizontal is the direction of shield tunneling through the strata), equal distance, high density, and multiple repetitions should be followed. The strata exploration range and the number of exploration routes should be set on the built-in map of the handheld remote control terminal 2. Only after repeated exploration of the same aerial survey river section can the strata exploration of the next section be carried out.

[0065] Step 3: After the joint detection is completed, the data is imported into the computer and analyzed using data analysis software.

[0066] In step one, during the commissioning process, test flights and tests should be conducted, and the test data should be exported for analysis to determine the initial test route and ensure that the equipment is operating normally.

[0067] In step two, the geological detection range and the number of detection routes can be set on the built-in map of the handheld remote control terminal 2 based on BeiDou navigation and positioning technology. During the formal detection process, based on actual engineering needs, continuous detection will be carried out at equal distances upstream and downstream of the initial detection section, and the same section should be detected in at least three cycles.

[0068] In step three, existing data analysis software can be used to analyze the data. By comparing the geological conditions of different strata exploration data maps, the location and type of obstacles can be determined, and further advance forecast data can be provided for underwater strata crossing projects.

[0069] Compared with the prior art, the present invention has the following advantages:

[0070] 1. The geological acoustic wave detector based on acoustic parametric array technology is small in size, has high geological map resolution, and is easy to install. After adding a high-precision attitude sensor to its bracket, the transducer can be observed and adjusted in real time to keep it in the vertical direction, which greatly improves the attitude control accuracy of the transducer and further enhances the accuracy of data acquisition.

[0071] 2. The cruise ship adopts a twin-hull design and is equipped with a dual-power structure, which can effectively counteract natural resistance such as water flow impact and greatly improve navigation stability during geological and obstacle detection. At the same time, it is equipped with a high-precision heading sensor, which can significantly assist in correcting its navigation direction.

[0072] 3. Equipped with a high-precision navigation and positioning module, it can provide accurate geographical information of the surface of a wide river in advance and provide route guidance during navigation. In addition, it can transmit and accurately record the location information of detected obstacles in real time.

[0073] 4. When the shield tunnel passes through the water surface of the strata, a joint detection method with vertical cross-sections (the cross-section is the direction of the shield tunneling through the strata), equal distances, high density, and repeated detection can be used to provide detailed geological and strata data. In addition, through data analysis, the geological and obstacle conditions within the strata being passed can be fully understood.

[0074] 5. This utility model is reasonably designed, accurately measured, safe and reliable, simple to operate, time-saving and labor-saving, compact in structure and easy to use.

[0075] Therefore, by using this utility model, it is possible to accurately determine whether there are underground obstacles such as sunken ships and pile foundations within the influence range of underwater strata, and to verify and monitor the specific location and burial depth of municipal pipelines such as power, water supply and distribution, and gas in underwater strata, so as to provide timely advance forecast data for projects crossing underwater strata, and thus provide reliable support for the smooth progress of subway tunneling projects.

[0076] In summary, the high-precision joint detection system for underwater geology and obstacles in wide rivers of this invention can conduct high-precision joint detection of underwater geology and obstacles in wide rivers, providing reliable support for the smooth progress of subway tunnel construction, and is suitable for large-scale promotion and application.

[0077] Therefore, it is evident that the objective of this utility model has been fully and effectively achieved. The function and structural principles of this utility model have been demonstrated and explained in the embodiments. Without departing from the stated principles, any modifications can be made to the implementation methods. Therefore, this utility model includes all modified embodiments based on the spirit and scope of the claims.

Claims

1. A high-precision joint detection system for underwater geological strata and obstacles in wide rivers, characterized in that, This includes a high-precision joint detection device for underwater geological strata and obstacles in wide rivers, and a handheld remote control terminal, among which: The high-precision joint detection device for underwater strata geology and obstacles in wide rivers includes a high-stability unmanned powered cruise component on the water surface and a detection component for underwater strata geology and obstacles in wide rivers. The high-stability unmanned powered cruise component includes a cruise hull, a left connecting rod, a right connecting rod, a left hull actuator, a right hull actuator, a heading sensor, a navigation video recorder, a high-precision navigation and positioning module, a cruise data storage and control integration module, an information transmission antenna, a detector video monitoring camera, and a power supply. The cruise hull includes a left hull, a right hull, and a hollow connecting bridge. Both the left and right hulls are vertically oriented and spaced apart horizontally. The hollow connecting bridge is positioned horizontally between the left and right hulls and connects them. The left and right connecting rods are vertically oriented and spaced apart horizontally. The upper ends of the left and right connecting rods are located below the rear ends of the left and right hulls, respectively, and connect to the rear ends of the left and right hulls. The left and right hull actuators are mounted on the lower ends of the left and right connecting rods, respectively. The heading sensor... The sensor, the navigation video recorder, and the high-precision navigation and positioning module are all mounted on the upper surface of the hollow connecting bridge. The cruise data storage and control integration module is mounted on the upper surface of the left hull and the upper surface of the hollow connecting bridge. The information transmission antenna is vertically mounted on the rear end of the right hull. The detector video monitoring camera is located below and connected to the lower surface of the hollow connecting bridge. The power supply is located inside the cruise ship and is electrically connected to the left hull driver, the right hull driver, the heading sensor, the navigation video recorder, the high-precision navigation and positioning module, the cruise data storage and control integration module, the information transmission antenna, and the detector video monitoring camera. The cruise data storage and control integration module is signal-connected to the left hull driver, the right hull driver, the heading sensor, the navigation video recorder, the high-precision navigation and positioning module, the information transmission antenna, and the detector video monitoring camera. The underwater geological and obstacle detection component for the wide river includes an acoustic parametric array (APA) geological acoustic wave detector and a detection data storage and control integration module. The APA geological acoustic wave detector is vertically arranged and located below and connected to the lower surface of the hollow connecting bridge plate. The lower end of the APA geological acoustic wave detector is the detection end. The detection data storage and control integration module is respectively arranged on the upper surface of the right hull and the upper surface of the hollow connecting bridge plate. The power supply is also electrically connected to the APA geological acoustic wave detector and the detection data storage and control integration module. The detection data storage and control integration module is signal-connected to the APA geological acoustic wave detector and the information transmission antenna. The handheld remote control terminal is connected to the information transmission antenna.

2. The high-precision joint detection system for underwater geological strata and obstacles in wide rivers as described in claim 1, characterized in that, The hollow connecting bridge is located between the top of the mid-rear section of the left hull and the top of the mid-rear section of the right hull, and connects the top of the mid-rear section of the left hull and the top of the mid-rear section of the right hull, respectively.

3. The high-precision joint detection system for underwater strata geology and obstacles in wide rivers as described in claim 1, characterized in that, The heading sensor is positioned at the center of the upper surface of the hollow connecting bridge plate. The navigation video recorder is located in front of the heading sensor, the high-precision navigation and positioning module is located behind the heading sensor, the cruise data storage and control integration module is located to the left of the heading sensor, and the detection data storage and control integration module is located to the right of the heading sensor.

4. The high-precision joint detection system for underwater strata geology and obstacles in wide rivers as described in claim 1, characterized in that, The acoustic parametric array geological acoustic wave detector is located below and connected to the center of the lower surface of the hollow connecting bridge plate, and the detector's video monitoring camera is located behind the acoustic parametric array geological acoustic wave detector.

5. The high-precision joint detection system for underwater strata geology and obstacles in wide rivers as described in claim 1, characterized in that, The left hull drive includes a left propeller, a left propeller drive motor, and a left horizontal rotation motor. The left propeller is vertically positioned and arranged along the left-right direction. The left propeller drive motor is located in front of the left propeller and connected to the left propeller to drive the left propeller to rotate around the front-rear direction. The left horizontal rotation motor is mounted on the lower end of the left connecting rod and connected to the left propeller drive motor to drive the left propeller drive motor to rotate horizontally. The power supply is electrically connected to both the left propeller drive motor and the left horizontal rotation motor. The cruise data storage and control integrated module is signal-connected to both the left propeller drive motor and the left horizontal rotation motor.

6. The high-precision joint detection system for underwater strata geology and obstacles in wide rivers as described in claim 1, characterized in that, The high-stability unmanned powered cruise component also includes a left lifting drive, which is located below the rear end of the left hull and installed at the rear end of the left hull and connected to the upper end of the left connecting rod for raising and lowering the upper end of the left connecting rod. The power supply is also electrically connected to the left lifting drive, and the cruise data storage and control integration module is also signal-connected to the left lifting drive.

7. The high-precision joint detection system for underwater strata geology and obstacles in wide rivers as described in claim 1, characterized in that, The right hull drive includes a right propeller, a right propeller drive motor, and a right horizontal rotation motor. The right propeller is vertically positioned and arranged along the left-right direction. The right propeller drive motor is located in front of the right propeller and connected to the right propeller to drive the right propeller to rotate around the front-rear direction. The right horizontal rotation motor is mounted on the lower end of the right connecting rod and connected to the right propeller drive motor to drive the right propeller drive motor to rotate horizontally. The power supply is electrically connected to both the right propeller drive motor and the right horizontal rotation motor. The cruise data storage and control integrated module is signal-connected to both the right propeller drive motor and the right horizontal rotation motor.

8. The high-precision joint detection system for underwater strata geology and obstacles in wide rivers as described in claim 1, characterized in that, The high-stability unmanned powered cruise component also includes a right lift driver, which is located below the rear end of the right hull and installed at the rear end of the right hull and connected to the upper end of the right connecting rod for raising and lowering the upper end of the right connecting rod. The power supply is also electrically connected to the right lift driver, and the cruise data storage and control integration module is also signal-connected to the right lift driver.

9. The high-precision joint detection system for underwater strata geology and obstacles in wide rivers as described in claim 1, characterized in that, The acoustic parametric array geosonic detector includes a detector support, a transducer support, an attitude sensor, a vertical attitude adjustment driver, a transducer, and an acoustic wave transmitting and receiving end. The detector support is vertically arranged and located below and connected to the lower surface of the hollow connecting bridge plate. The transducer support is vertically arranged and rotatably mounted in the detector support in the left-right direction. The attitude sensor is located behind and connected to the transducer support. The vertical attitude adjustment driver is mounted on the detector support and connected to the transducer support to drive the transducer support to rotate in the left-right direction. The transducer is vertically arranged and located below and connected to the transducer support. The acoustic wave transmitting and receiving end is vertically arranged and located below the transducer and connected to the transducer. The power supply is electrically connected to the attitude sensor, the vertical attitude adjustment driver, and the transducer. The detection data storage and control integrated module is signal-connected to the transducer, the attitude sensor, and the vertical attitude adjustment driver.

10. The high-precision joint detection system for underwater strata geology and obstacles in wide rivers as described in claim 9, characterized in that, The acoustic parametric array geological acoustic wave detector also includes a detector horizontal rotation drive unit, which is located below the lower surface of the hollow connecting bridge plate and installed on the lower surface of the hollow connecting bridge plate and connected to the detector bracket for driving the detector bracket to rotate horizontally. The power supply is also electrically connected to the detector horizontal rotation drive unit, and the detection data storage and control integrated module is also signal-connected to the detector horizontal rotation drive unit.

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