CN101209749A - Sunken vessel underwater synthetic attitude measurement instrument - Google Patents
Sunken vessel underwater synthetic attitude measurement instrument Download PDFInfo
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- CN101209749A CN101209749A CNA2006101673428A CN200610167342A CN101209749A CN 101209749 A CN101209749 A CN 101209749A CN A2006101673428 A CNA2006101673428 A CN A2006101673428A CN 200610167342 A CN200610167342 A CN 200610167342A CN 101209749 A CN101209749 A CN 101209749A
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Abstract
The invention discloses a wreck underwater general attitude measuring instrument used for measuring the underwater all attitudes like wreck. The invention essentially consists of a level monitoring computer, a charging adapter, a host for an underwater attitude measuring instrument, an underwater installation supporter and an underwater specific cable. The level computer is provided with monitoring software and is connected with the charging adapter through a signal cable. The host for the attitude measuring instrument is fixed on an object to be measured through the installation supporter and is connected with the charging adapter through the underwater specific cable. By adopting the invention, dynamic monitoring on the underwater salvage process like wreck, etc., can be carried through and the underwater attitude and the underwater depth can be monitored so as to control the charging and discharging of a salvage buoy and the adjusting of cable lifting and laying as well as ensure the safe and successful running of the salvage work.
Description
Technical field
The present invention relates to the underwater monitoring technology, particularly relate to a kind of sunken vessel underwater synthetic attitude measurement instrument.
Background technology
To sinking ship, the accurate grasp of attitude under water of accident naval vessels is the important evidence of formulating rescue, salvaging scheme, and in actual fishing operation, the complexity that is limited to underwater environment, measure direction, heel, the trim of shipwreck, normally adopt the mechanical type clinometer to shipwreck under water attitude carry out manual measurement and roughly the estimation, also the part is observed sometimes by equipment such as sonar and underwater televisions.When utilizing sonar that targeted attitude is surveyed, require operating personal to have stronger expertise and abundant judgement experience, but even so can not quantize data such as target direction, horizontal trims.If desired solve more full and accurately, generally carry under the mechanical type clinometer water testee felt by the diver.In this case, the diver can only carry out the measurement of inclining in length and breadth under the testee static state, and the judgement of according to incomplete take off data and experience the testee attitude being made thus obviously is inaccurate, and be difficult to quantize, can not instead intuitively entreat the monitoring and the salvaging situation of shipwreck.In the process of salvaging, for make shipwreck can according to the expection attitude and position floating, must be in real time to comprise course, the degree of depth in the shipwreck floating process, synthetic attitude in being tilted in measures monitoring, and on this basis surface buoy is filled, exits and salvage equipment such as cable and regulate, could finish the salvaging task smoothly.Yet under the existing salvaging mode, can't grasp the shipwreck basal conditions, water surface rescue group can only rule of thumb salvage at all, thereby is difficult to the marine salvage equipment process of carrying out is regulated, with the floating of control shipwreck.
In addition, in carrying out the process of large-scale underwater project construction and some under-water test, perhaps whether laid and put in place whether in the angle position of its expection, required real-time water surface hanging device is regulated of water surface workmen in order to grasp under water hoisting object.Formulate and engineering evaluation for the attitude of lifting object under water being carried out rapid reaction and next step arrangement and method for construction, also need to obtain the underwater synthetic attitude of its real-time quantization.
Equally, when carrying out underwater construction operation, owing to can not obtain accurately and the works that quantizes attitude data under water, all brought certain difficulty for construction and engineering evaluation in the past.
Summary of the invention
The objective of the invention is provides a kind of new shipwreck underwater survey equipment at above-mentioned prior art existing problems, and this equipment can be to shipwreck attitude under water, and carries out in whole salvaging or work progress that whole process is three-dimensional monitors in real time.
Therefore the present invention has proposed a kind of sunken vessel underwater synthetic attitude measurement instrument.This survey meter adopts direction, attitude and depth survey technology and special controlling and mounting structure under water, to shipwreck or works attitude and in whole salvaging and work progress, carry out the three-dimensional monitoring in real time of whole process under water, not only can be to the underwater direction of shipwreck, the degree of depth, the data of inclining are carried out survey record in length and breadth, also can signal be reached the water surface by underwater cable, show in real time and record by computing machine, so that in under-water operation processes such as wreck salvage, for the formulation and the whole process control of fishing operation scheme provides foundation and record.
The present invention mainly is made up of water surface control part and lower apron two parts.Above water comprises water surface computing machine, charging adapter, signal cable.Water surface built-in computer monitoring software is connected with charging adapter by signal cable; Lower apron comprises private cable, attitude measurement instrument main frame, mounting bracket and magnetic-disc under water.The attitude measurement instrument main frame is fixed on the tested shipwreck by mounting bracket and magnetic-disc, is connected with charging adapter by underwater cable.The attitude measurement instrument main frame mainly is made of watertight housings, acquisition of signal and control circuit, sensor and control group.Wherein sensor is connected with acquisition of signal and control circuit by signal wire (SW).Acquisition of signal and control circuit that the data that sensor is gathered are given in the watertight housings are handled, and the data after the processing are leaded up to underwater cable and passed to water surface computing machine show and record that one the tunnel shows on the attitude measurement instrument host display.
When carrying out the wreck salvage operation, the attitude measurement instrument main frame is connected private cable under water, be carried into the shipwreck assigned address by the diver, after determining the warship bow direction of shipwreck, the zero-bit direction of adjusting the attitude measurement instrument main frame is consistent with stem, utilize mounting bracket and magnetic-disc that the attitude measurement instrument main frame is adsorbed on architectural parallel with the shipwreck waterplane of the deck of shipwreck or other, the diver can return after opening source switch on the attitude measurement instrument main frame.At this moment, water surface operating personal can monitor in real time, write down and control the shipwreck attitude by water surface computer monitoring software, or with the attitude measurement data of shipwreck as control and feedback signal, insert the charge/discharge gas device of salvage pontoon, the floating drum of realizing the salvaging process charges and discharge gas automatically, thereby can improve the efficient and the accuracy rate of wreck salvage greatly.
The attitude measurement and when record that are used for the salvaging process, the present invention also can not connect underwater cable, the diver fixes the attitude measurement instrument main frame according to shipwreck warship bow direction after, can directly operate under water, write down and observe, can also carry out simultaneously operations such as time adjustings, degree of depth azimuth calibration, demonstration are provided with.
During as underwater engineering such as lifting, pipe line arrangement under water, can before entry, the attitude measurement instrument main frame be connected underwater cable, then be installed on the hoisting object such as pipeline by mounting bracket, sucker, in work progress, the water surface can be made real-time adjusting according to the attitude feedback of computer monitoring software to hoisting object.
Description of drawings
Fig. 1 forms schematic diagram for sunken vessel underwater synthetic attitude measurement instrument of the present invention system:
Fig. 2 is a sunken vessel underwater synthetic attitude measurement instrument system architecture schematic diagram of the present invention;
Fig. 3 is a sunken vessel underwater synthetic attitude measurement instrument main machine structure scheme drawing of the present invention.
Among Fig. 1: 1 for being equipped with the computing machine of monitoring software; 2 is signal cable; 3 is charging adapter; 4 are private cable under water; 5 is the attitude measurement instrument main frame; 6 mounting brackets under water;
Among Fig. 3: 1 is waterproof case, and 2 is highlighted read-out, and 3 is power module, and 4 is sensor, and 5 is acquisition of signal and control circuit, and 6 is signal/power port, and 7 is source switch, and 8 is control group, and 9 is status indicator lamp.
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in further detail.
With reference to Fig. 1, the water surface computing machine 1 that monitoring software is installed is connected with charging adapter 3 by signal cable 2, underwater cable 4 respectively with attitude measurement instrument main frame 5; Charging adapter 3 is equipped with conv, for attitude measurement instrument main frame 5 and water surface computing machine 1 provide data exchange, insert the external application power supply after, can fill/power for attitude measurement instrument main frame 5 by private cable under water 4; Mounting bracket 6 is used to settle attitude measurement instrument main frame 5, is fixed on the shipwreck deck by modes such as magnetic-discs.
With reference to Fig. 2, lower computer system CPU at first carries out acquisition of signal to depth transducer, and carries out processing such as digital filtering, data transfer, draws the real-time deep data; Extract the electronic compass data then, draw course, heel, trim data after the data transfer; And then integral data, deliver to display module and show real time data, and can select to be saved in the middle of the memory device, by underwater cable data are delivered to upper computer software simultaneously, upper computer software carries out data display, storage, editor, waveform output.Charging adapter provides data transfer, battery charge and dispatch from foreign news agency function.
With reference to Fig. 3, the attitude measurement instrument main frame mainly is made up of watertight housings 1, highlighted read-out 2, power module 3, sensor 4, acquisition of signal and control circuit 5, signal/power port 6, source switch 7, control group 8 and status indicator lamp 9.Wherein watertight housings 1 is made up of watertight housings loam cake, watertight housings lower cover and waterproof glass; Acquisition of signal and control circuit 5, power module 3 and status indicator lamp 9 are installed in the watertight housings 1; Sensor 4 is installed on the watertight housings 1, and seals with watertight housings 1 usefulness seal ring, and its signal wire (SW) is connected with acquisition of signal and control circuit 5; Signal/power port 6 is connected on acquisition of signal and the control circuit 5, provides handshaking and power supply to supply with; Source switch 7 and control group 8 carry out being installed on the watertight housings 1 after the encapsulation process with packing element respectively, and highlighted read-out 2 correspondences are installed in below watertight housings 1 waterproof glass, are used to show attitude numerical value and Control-Menu etc.
When the present invention uses, at first the messenger cable is connected computing machine waterborne with charging adapter 2, attitude measurement instrument main frame 5 is fixed on the mounting bracket 6, behind the following water with mounting bracket 6 parallel being adsorbed on the shipwreck deck, attitude measurement instrument main frame 5 directions and shipwreck direction are consistent, the heel of attitude measurement instrument main frame 5, trim, the fixing back of direction are consistent with shipwreck, by underwater cable 4 attitude measurement instrument main frame 5 are connected with charging adapter 2 to come again.During work, charging adapter 2 is sent to water surface computing machine 1 with the data that underwater cable 4 transmits by signal cable 2, on the water surface computing machine 1 monitoring software is installed, realize operations such as storage, waveform output by monitoring software control attitude measurement instrument main frame 5, data such as the heel of real-time simultaneously demonstration attitude measurement instrument main frame, trim, direction, the degree of depth.
Claims (3)
1. a sunken vessel underwater synthetic attitude measurement instrument comprises a water surface computing machine, it is characterized in that: it also comprises an attitude measurement instrument main frame, a charging adapter, and mounting bracket and one is private cable under water; Described water surface computing machine is equipped with monitoring software, is connected with charging adapter by signal cable; The attitude measurement instrument main frame is fixed on the monitored shipwreck by mounting bracket, is connected with charging adapter by private cable under water.
2. according to the described synthetic attitude measurement instrument of claim 1, it is characterized in that: described attitude measurement instrument main frame is mainly by watertight housings, acquisition of signal and control circuit, sensor and control group constitute, and described sensor is connected with acquisition of signal and control circuit by signal wire (SW).
3. according to the described synthetic attitude measurement instrument of claim 1, it is characterized in that: described mounting bracket can be fixed on the tested shipwreck deck by magnetic-disc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2006101673428A CN101209749A (en) | 2006-12-29 | 2006-12-29 | Sunken vessel underwater synthetic attitude measurement instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2006101673428A CN101209749A (en) | 2006-12-29 | 2006-12-29 | Sunken vessel underwater synthetic attitude measurement instrument |
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| Publication Number | Publication Date |
|---|---|
| CN101209749A true CN101209749A (en) | 2008-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2006101673428A Pending CN101209749A (en) | 2006-12-29 | 2006-12-29 | Sunken vessel underwater synthetic attitude measurement instrument |
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| CN (1) | CN101209749A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103235326A (en) * | 2013-05-10 | 2013-08-07 | 山东省科学院海洋仪器仪表研究所 | Record positioning device and control method thereof |
| CN105655186A (en) * | 2014-11-17 | 2016-06-08 | 北京强度环境研究所 | Watertight mechanical type stroke switch |
| CN111290414A (en) * | 2018-12-10 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Underwater equipment control method and device based on attitude control |
| CN115675738A (en) * | 2022-11-11 | 2023-02-03 | 中国船舶科学研究中心 | Channel type unmanned boat sonar arrangement device and installation method |
-
2006
- 2006-12-29 CN CNA2006101673428A patent/CN101209749A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103235326A (en) * | 2013-05-10 | 2013-08-07 | 山东省科学院海洋仪器仪表研究所 | Record positioning device and control method thereof |
| CN105655186A (en) * | 2014-11-17 | 2016-06-08 | 北京强度环境研究所 | Watertight mechanical type stroke switch |
| CN105655186B (en) * | 2014-11-17 | 2018-03-16 | 北京强度环境研究所 | Watertight mechanical formula travel switch |
| CN111290414A (en) * | 2018-12-10 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Underwater equipment control method and device based on attitude control |
| CN115675738A (en) * | 2022-11-11 | 2023-02-03 | 中国船舶科学研究中心 | Channel type unmanned boat sonar arrangement device and installation method |
| CN115675738B (en) * | 2022-11-11 | 2023-05-09 | 中国船舶科学研究中心 | Channel type unmanned ship sonar arrangement device and installation method |
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Open date: 20080702 |