CN112937779A

CN112937779A - Large-scale ocean-going sea-way survey vessel

Info

Publication number: CN112937779A
Application number: CN202110372454.1A
Authority: CN
Inventors: 叶昊; 孟繁涛; 于再红; 姜晓翔; 汪战军
Original assignee: 708th Research Institute of CSIC
Current assignee: 708th Research Institute of CSIC
Priority date: 2021-04-07
Filing date: 2021-04-07
Publication date: 2021-06-11

Abstract

The invention relates to a large-scale ocean channel survey vessel, which carries various high-performance specialized ocean survey equipment systems, and comprises a manned survey vessel, an unmanned survey vessel, an autonomous unmanned underwater vehicle release and recovery system, a towed survey equipment, a sailing type multi-element survey system, a thermohaline detector, an underwater fixed installation type acoustic equipment and a survey winch equipment; the measurement operation deck area comprises a tail operation area and a side operation area, and can meet the requirements of multipoint putting and recovering of measurement equipment; the underwater fixed installation type acoustic equipment is installed at the bottom of a ship positioned in front of a midship 1/3 ship length through a bow hoisting attachment; the anti-rolling device adopts a retractable anti-rolling fin and a passive controllable anti-rolling water cabin, and intelligent automatic control is carried out on two types of anti-rolling equipment through a combined control system; the measuring ship is also provided with a DP-2 level dynamic positioning system, so that the measuring precision, continuity and reliability in the long-period gridding measuring operation and fixed-point measuring operation process of deep and far sea can be ensured.

Description

Large-scale ocean-going sea-way survey vessel

Technical Field

The invention relates to a sea channel measuring ship, in particular to a large ocean sea channel measuring ship for deep and open sea investigation and measurement operation.

Background

The sea channel survey vessel is mainly used for surveying sea areas and navigation channels, measuring water depth, detecting seabed sediment and landforms, investigating and collecting coastal hydrological data such as ocean currents, tides and the like, installing and maintaining navigation aid equipment, executing marine investigation and the like, and the current sea channel survey vessels in the field of domestic civil and marine systems have the following current situations:

(1) the large ocean sea channel measuring ship suitable for the deep sea water areas is lacked, the ship size is small, the endurance is low, the wind resistance and the wave resistance are poor, and the adaptability to severe environment conditions of the deep sea areas such as the south sea is poor.

(2) The on-board survey and measurement functions are few, the measurement equipment system is simple in configuration, the measurement range is limited, the measurement accuracy is poor, the measurement capability is weak, the system is mainly used for sweeping and measuring tasks in coastal and offshore shallow sea areas such as ports, navigation channels and anchor areas, and multifunctional and specialized measurement equipment and systems suitable for deep and distant sea areas are lacked.

(3) The measuring equipment is low in automation, unmanned and intelligent level, and has insufficient all-round applicability for executing measuring tasks under severe extreme conditions of deep sea reefs, shallow water areas and deep sea.

(4) The reliability of the measurement operation in the long period of the deep and far sea is poor because no dynamic positioning system is provided or only a DP-1 level dynamic positioning system is configured.

Therefore, it is necessary to design a large ocean-going marine vessel for solving the above technical problems of the existing marine vessel.

Disclosure of Invention

The invention aims to provide a large ocean sea-way measuring ship aiming at the defects of the prior art, which has good seaworthiness, stability, wave resistance, sufficient cruising power and self-sufficient power for ensuring the effective development of sea-way measurement, emergency search scanning and international surveying and mapping communication work in deep and far sea long period and severe environment; by carrying various high-performance specialized marine measuring equipment systems, various deep and far sea area investigation and measurement works can be executed in a large range, high efficiency and high precision, the setting of a measurement work flow on an operation deck is fully considered, and the multi-point throwing requirements and the modularized carrying and using requirements of measuring equipment are met; the intelligent and collaborative measurement operation of unmanned boats, unmanned planes and unmanned submergence vehicles is realized, and the applicability of performing measurement tasks under severe extreme conditions of island reefs, shallow water areas and deep sea is improved; by adopting anti-rolling equipment such as retractable anti-rolling fins and passive controllable anti-rolling water tanks, a combined anti-rolling control system ensures that the ship can achieve better anti-rolling effect in the whole navigation and operation period of the ship in deep and far sea areas; the DP-2 level dynamic positioning system is configured to ensure the measurement precision, continuity and reliability in the long-period gridding measurement operation and fixed-point measurement operation process of deep and far sea.

In order to achieve the purpose, the invention adopts the technical scheme that: a large-scale ocean sea-going channel survey ship adopts an all-electric drive type, carries a plurality of high-performance specialized ocean survey equipment systems, and comprises a manned survey ship, an unmanned survey ship, an autonomous unmanned underwater vehicle release and recovery system, a towing survey equipment, a sailing multi-factor survey system, a thermohaline depth gauge detector, an underwater fixed installation type acoustic equipment and a survey winch equipment; the survey operation deck area of the survey vessel comprises a tail operation area and a side operation area, and the requirements of multipoint throwing and recovering of survey equipment can be met; the underwater fixed installation type acoustic equipment is installed at the bottom of a ship positioned in front of a midship 1/3 captain of the ship through a bow hoisting attachment; the anti-rolling device of the measuring ship adopts a retractable anti-rolling fin and a passive controllable anti-rolling water tank, and intelligent automatic control is carried out on two types of anti-rolling equipment through a combined control system; the measuring ship is also provided with a DP-2 level dynamic positioning system, so that the measuring precision, continuity and reliability in the long-period gridding measuring operation and fixed-point measuring operation process of deep and far sea can be ensured.

Further, a measurement operation deck area, a shielding operation area, a temporary helicopter stopping and landing area, a regulation and measurement working room area, a living accommodation area and a bow mooring area are sequentially arranged from the stern part to the bow part above a main deck of the measurement ship, and a propulsion device cabin, a winch cabin, a stabilizer cabin, an auxiliary cabin of the cabin, a stabilizer cabin, an acoustic equipment arrangement area, a bow side propulsion cabin and a bow apex cabin are sequentially arranged from the stern part to the bow part below the main deck.

Furthermore, the manned measuring boat, the unmanned measuring boat, the autonomous unmanned underwater vehicle release and recovery system and the cruise type multi-element measuring system are uniformly distributed on two side sides of the measuring operation deck, and can be hoisted and transported by a crane at the middle rear part of the measuring operation deck.

Furthermore, a ground rail is longitudinally arranged in the center of the measurement operation deck, an electric pallet truck is arranged on the ground rail, and various kinds of towed measurement equipment, submergence devices and unmanned equipment are arranged on the electric pallet truck and conveyed to a shielding operation area through the ground rail.

Furthermore, the winch cabin is internally provided with measurement winch equipment which comprises a CTD winch used for CTD operation of the thermohaline depth detector, an SVP winch used for releasing and recovering the sound velocity detector, an optical cable winch used for deep towing operation, a coaxial cable winch used for side sweeping operation and a geological winch used for geological sampling and buoy retraction operation.

Furthermore, the CTD winch in the winch cabin is taken out of the cabin from the broadside through a pulley guide cable and is matched with the hoisting device to finish the retraction and the operation of the thermohaline depth detector, and the winches in the other winch cabins are matched with the tail A frame and are used for the towing measurement operation of various towing type measuring equipment.

Further, towed measuring equipment includes side scan sonar, synthetic aperture, deep towed system, towed beacon locater, substrate sampler, etc.

Furthermore, the unmanned survey boat, the unmanned survey aircraft and the unmanned underwater vehicle can be loaded in a modularized mode according to the requirement of a survey task, and unmanned, intelligent and clustered survey operation of the air, sea and submarine three-dimensional detection system is realized by matching with a sea channel survey ship. Furthermore, the front end face and the two side end faces of the bow hoisting accessory body are semicircular in section, the rear end face is in a form of a wing with a streamline shape, the distance between the accessory body and the ship body is about 700-800 mm, three hanging arms are arranged to be connected with the ship body, and the sections of the hanging arms are in a form of the streamline wing.

Furthermore, a plurality of underwater fixedly-mounted acoustic devices are arranged on the bow hoisting type appendage, and the underwater fixedly-mounted acoustic devices comprise shallow water single beams, deep water single beams, shallow water multiple beams, intermediate water multiple beams, deep water multiple beams, acoustic Doppler flow profilers and shallow formation profilers.

Furthermore, the combined anti-rolling control system is arranged in a cab and an engine room centralized control room, so that digital and intelligent combined control over the anti-rolling fins and the anti-rolling water tanks is realized, and the wave resistance performance of the ship is improved.

The invention has the beneficial effects that:

(1) the measuring equipment system configuration realizes multifunctional, multi-task and modular design, can execute various deep and far sea area investigation and measurement works in a large range, high efficiency and high precision, is reasonable in arrangement and design, and fully considers the setting of the measuring work flow, the measuring operation efficiency and the measuring effect.

(2) By using the unmanned aircraft, the unmanned boat and the underwater unmanned submersible vehicle, automation, unmanned and intellectualization of an air, sea and submerged three-dimensional detection system are realized, the capability of rapid transition and clustering operation is realized, the mission range of a measuring mother ship is greatly improved, and the applicability of measurement and search and rescue missions under severe extreme conditions such as island reefs, shallow water areas, deep sea and the like is improved.

(3) The DP-2 level dynamic positioning system with the redundancy capability is configured, so that the measurement operation efficiency is improved, and the measurement precision, the continuity and the reliability in the long-period measurement operation process of the deep and far sea are ensured.

(4) The two types of anti-rolling equipment are digitally and intelligently controlled by adopting anti-rolling equipment such as a retractable anti-rolling fin and a passive controllable anti-rolling water tank through a combined control system, so that green energy-saving anti-rolling in a full navigational speed range is effectively realized, and the wave resistance of the ship is improved.

(5) By adopting a mounting mode of the hoisting type (GONDOLA) acoustic equipment, the influence of a bow ship bottom bubble layer on sound wave transmitting and receiving of an acoustic equipment transducer can be effectively avoided, the measuring range and precision of the acoustic equipment are effectively improved, and powerful guarantee is provided for obtaining reliable and accurate marine measurement data.

Drawings

FIG. 1 is a front view of the general layout of a large ocean going marine vessel of the present invention;

FIG. 2 is a schematic view of the arrangement of the deck area for the tail survey operation of the large ocean-going marine vessel of the present invention;

FIG. 3 is a schematic view of the arrangement of the winch inside the cabin of the large ocean going marine vessel of the present invention;

FIG. 4 is a schematic view of the operation of the warm salt deep drawworks;

FIG. 5 is a schematic view of the operation of the winch in the winch cabin of the large ocean-going marine surveying vessel of the present invention via the tail A frame;

FIG. 6 is a schematic view of the bow hanging type appendage (GONDOLA) of the large ocean channel measuring vessel of the present invention;

fig. 7 is a bottom schematic view of a bow hanging appendage (goddola) of the large ocean channel measuring ship of the present invention.

Detailed Description

The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.

As shown in FIG. 1, the large ocean-going sea-way survey vessel of the present invention has a total length of 120 m, a width of 21 m to 22 m, and a depth of 9.0 m to 9.5 m. The main machine places from the stern to the bow below the main deck are a propulsion device cabin 7, a propulsion electric equipment and hydraulic equipment cabin 8, a winch cabin 9, a fin stabilizer cabin 10, an auxiliary cabin 11, a stabilizing water cabin 12, an acoustic equipment arrangement area 13 and a bow side propulsion cabin 14.

The large ocean-going sea-way measuring ship adopts a full electric drive type, and can reasonably and flexibly distribute the load of a power station according to different working conditions so as to meet the requirements of various complex measuring working conditions on the sea on the power of the ship and ensure better operation economy.

In order to improve the efficiency of measurement operation and ensure the measurement precision, continuity and reliability in the long-period measurement operation process of deep and far seas, the large ocean-going sea-way measuring ship is provided with a DP-2 level dynamic positioning system with redundancy capability, and the system comprises a power system, a propeller system, a dynamic positioning control system, a measurement system and the like.

The deck area 1 for the measurement operation of the large-scale ocean-going sea channel measuring vessel is L-shaped, as shown in figure 2, comprises a tail operation area and a side operation area, and can meet the requirements of multipoint throwing and recycling of measuring equipment. The A-shaped frame 101 is arranged at the stern and used for releasing and recovering various towed measuring devices such as a side scan sonar, a synthetic aperture, a deep towing system, a towed beacon locator, a substrate sampler and the like; when the towed measuring equipment does not work, the towed measuring equipment is stored in the shielded working area 3; a sailing type multi-element measurement system (MVP)102 for measuring a sound velocity profile is arranged on the starboard side at the tail of the main deck; the two

cranes

103 and 104 are arranged at the middle rear part of the operation deck, the operation range of the cranes can cover the arrangement area of the measurement equipment of the operation deck, and the cranes are mainly responsible for deck lifting operation of the measurement equipment terminal; an unmanned survey boat 105, an unmanned survey boat 106, an unmanned survey aircraft container 107 and an unmanned underwater vehicle (AUV) release and recovery system container 108 are respectively arranged on the port and starboard sides and can be hoisted and transported by a crane; the work boat 109 is arranged on the starboard side and is provided with matched hoisting equipment.

An unmanned underwater vehicle (AUV) can be used for investigation and search of deep-water seabed targets, photographing and evidence obtaining and salvaging and disposal of small important objects. When the AUV releasing and recovering operation is performed, the AUV releasing and recovering system container is first lifted by the starboard crane 104 from the starboard side position 108 to the tail position 109, and then the AUV is released from the tail to the ship through the corresponding releasing and recovering system in the container for the water-entering operation and recovery.

The tail part of the boat deck is provided with a helicopter take-off and landing deck 2, the size and area of the helicopter deck 2 meet the take-off and landing requirements of a helicopter with the rotor diameter below 14m, and meanwhile, the helicopter deck can be used for taking off and landing of an unmanned measuring airplane. The unmanned survey plane can carry out surveying and mapping observation of seacoasts, islands, shallow sea terrains and the like, before taking off and landing, the unmanned survey plane container 107 is hoisted to the helicopter taking off and landing deck 2 by the crane 104, and after the unmanned survey plane is taken out of the box, taking off and landing operation is carried out.

The unmanned equipment such as the unmanned measuring boat 105, the unmanned measuring airplane 107 and the unmanned underwater vehicle 108 on the large ocean-going sea-way measuring ship can realize modularized shipment by combining with the requirement of a measuring task, realize unmanned and intelligentization of an air, sea and submarine three-dimensional detection system under the support of a sea-way measuring mother ship, have the capability of fast transition and clustering operation, greatly improve the mission task range of the measuring mother ship, and improve the applicability of measuring and search and rescue tasks under severe and extreme conditions such as an island, a shallow water area, a deep sea and the like.

The center of the measuring operation deck area 1 is provided with a ground rail 111 along the longitudinal direction, the ground rail is provided with an electric pallet truck 112, and a roller connected with the ground rail 111 is arranged below the pallet truck and can move back and forth on the ground rail under the drive of a motor. Various kinds of measurement equipment such as towed measurement equipment, submersible vehicles and unmanned equipment can be arranged on the electric pallet truck and conveyed to the shielding operation area 3 through a ground rail, so that the various kinds of measurement equipment can be maintained, maintained and stored conveniently; meanwhile, a transverse ground rail 113 is also arranged on the right side, and an electric pallet truck 114 is arranged above the transverse ground rail and is mainly used for conveying a warm salt depth detector (CTD)301 from the shielding operation area 3 to the side to sample sea water on the side, so that the marine temperature, salt, depth, sound velocity and other factors can be measured.

A winch cabin area 9 is arranged below the measurement operation deck, and as shown in fig. 3, various measurement winch devices are arranged, including large-scale measurement winches such as a CTD winch 901 (for a temperature and salinity depth detector CTD operation), an SVP winch 902 (for releasing and recovering an acoustic velocity detector), an optical cable winch 903 (for a deep towing operation), a coaxial cable winch 904 (for a side sweeping operation and the like), a geological winch 905 (for a geological sampling operation, a buoy collecting and releasing operation and the like), and the large-scale measurement winches comprise a tractor, a rope storage winch, a cable arranger and the like; the winch control room 906 is provided with electrical equipment such as a winch control cabinet.

The CTD winch 901 is taken out of the starboard side through a pulley guide cable and cooperates with the side crane 110 to complete the storage and operation of the warm salt depth detector (CTD)301, as shown in fig. 4. The side crane 110 can also perform the lifting operation of the equipment in the lower nacelle 11 through the starboard nacelle lifting opening 115. The tractors of the other winches in the winch cabin are opposite to the upward cable outlet, and the winch cable upwards passes through the main deck through a winch cabin guide pulley 907, then passes through a guide pulley 302 in a shielding operation area 3 chamber, and passes through the shielding operation area 3 to the tail A frame 101 towards the stern, so that the winch cable is used for the towing measurement operation of various towing type measurement equipment, as shown in fig. 5.

The large ocean channel survey vessel mainly navigates and operates in deep and open sea areas, the sea environment condition is severe, the signal reception in the sea and the sea bottom can be obviously interfered by the vessel which excessively swings in the waves, the positioning precision of the survey equipment is influenced, and the comfort of working and living of personnel on the vessel is also influenced. In order to achieve good wave resistance, the ship is provided with a retractable fin stabilizer cabin 10 and a passive controllable stabilizer cabin 12. The retractable fin stabilizer cabin is positioned behind the engine room 11, the passively controllable stabilizer cabin is positioned in front of the engine room 11, and the two types of stabilizer equipment are intelligently and automatically controlled through the combined control system, so that the ship can achieve a good stabilizing effect in the whole navigation and operation period. When in parking or low-speed sailing operation, the stabilization is mainly carried out by using the stabilization tank; when the ship sails at the economic speed, the fin stabilizer and the stabilizer tank cooperatively stabilize; when the ship sails at a high speed, the stabilizer fin is mainly used, and the stabilizer tank assists in stabilizing. The cab and the engine room centralized control room are respectively provided with a combined controller, and through digital and intelligent control of the stabilization system, green energy-saving stabilization in the full navigational speed range can be effectively realized, and the wave resistance of the ship is improved.

In order to avoid the influence of the noise of a main auxiliary engine, a propeller and the like at the rear part of the ship, a bubble layer at the bottom of a ship body and the like on acoustic equipment, the main acoustic equipment of the large ocean channel survey ship is arranged in front of the ship bow 1/3 captain, and meanwhile, in order to reduce the influence of bubbles generated at the bottom of the ship bow in the sailing process to the acoustic equipment as much as possible and improve the measurement range and the measurement precision of the acoustic equipment, the bow acoustic equipment adopts a hoisting type (GONDOLA) installation mode, as shown in figures 1, 6 and 7; the distance between the tail end of the Gondola appendage 15 and the head vertical line is 30-35 m, and bubbles at the bow flow to the rear through a gap between the ship bottom and the Gondola appendage 15, so that the influence of the bubbles on the emission and the receiving of measurement signals of acoustic equipment is reduced to the minimum; in order to meet the requirement of a deep water multi-beam longitudinal arrangement space with a beam angle of 1 degree multiplied by 0.5 degree, the total length of the GoNDOLA appendage is 20 meters; various underwater fixedly-mounted acoustic devices are arranged on the Gondola appendage, and comprise shallow water single beams, deep water single beams, shallow water multi-beams, reclaimed water multi-beams, deep water multi-beams, acoustic Doppler flow profilers (ADCPs), shallow formation profilers and the like; the GoNDOLA appendage is about 700mm high, the sections of the front end face and the end faces on the two sides are semicircular, and the section of the rear end face is in a form of a wing with a streamline shape, so that the drag reduction effect is achieved; the distance between the appendage and the ship body is about 700-800 mm, three hanging arms 151 are arranged to be connected with the ship body, and the cross sections of the hanging arms 151 are in a streamline wing form, so that the drag reduction effect is achieved; signal transmission pipelines of various acoustic measuring devices penetrate into the ship body upwards through the three hanging arms and are connected to the acoustic device arrangement area 13; a fishing net guide plate 152 is arranged in the middle of the GONDOLA head part and is vertical to the bottom surface of the ship so as to prevent the attached body from hanging underwater sundries such as fishing nets, aquatic plants and the like.

In order to ensure that the vibration noise of a cabin of a ship and the underwater radiation noise are controlled within a certain level, and improve the underwater measurement precision and the measurement range of acoustic detection equipment and the comfort of personnel living on the ship, the large ocean channel measuring ship provided by the invention is specially designed in a mute way in the aspects of overall arrangement, a ship body structure, a propeller design, a power equipment vibration isolation measure, a whole ship ventilation system, an air conditioning system, a cabin sound insulation system and the like, so that the underwater radiation noise of the ship body and the cabin vibration noise during navigation and measurement operation are reduced.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.

Claims

1. A large-scale ocean-going sea channel survey ship adopts the full electric drive type, its characterized in that: carrying a plurality of high-performance specialized marine measuring equipment systems, including a manned measuring boat, an unmanned measuring boat, an autonomous unmanned underwater vehicle release and recovery system, a sailing multi-element measuring system, a thermohaline depth gauge detector, a towing measuring equipment, an underwater fixed installation type acoustic equipment and a measuring winch equipment; the measurement operation deck area of the measuring ship comprises a tail operation area and a side operation area, and the requirements of multipoint throwing and recovering of measuring equipment can be met; the underwater fixed installation type acoustic equipment is installed at the bottom of a ship positioned in front of a midship 1/3 captain of the ship through a bow hoisting attachment; the anti-rolling device of the measuring ship adopts a retractable anti-rolling fin and a passive controllable anti-rolling water tank, and intelligent automatic control is carried out on two types of anti-rolling equipment through a combined control system; the measuring ship is also provided with a DP-2 level dynamic positioning system, so that the measuring precision, continuity and reliability in the long-period gridding measuring operation and fixed-point measuring operation process of deep and far sea can be ensured.

2. A large ocean-going marine vessel according to claim 1, wherein: the device comprises a measuring ship, a main deck, a cabin auxiliary cabin, a water tank, an acoustic equipment arrangement area, a bow side push cabin and a bow apex cabin, wherein the measuring ship comprises a measuring operation deck area, a shielding operation area, a temporary helicopter stopping and landing area, a regulating and measuring working chamber area, a living accommodation area and a bow mooring area from a stern part to a bow part in sequence from the upper part of the main deck, and the machine part from the stern part to the bow part below the main deck is provided with a propulsion device cabin, a winch cabin, a stabilizer cabin, a cabin auxiliary cabin, a stabilizer cabin, an acoustic equipment arrangement area, a bow side push cabin.

3. A large ocean-going marine vessel according to claim 2, wherein: the measuring operation deck is L-shaped, the multi-point throwing requirement of the measuring equipment can be met, and the A-shaped frame is arranged at the stern and used for releasing and recovering operation of various kinds of towed measuring equipment.

4. A large ocean-going marine vessel according to claim 2, wherein: the center of the measurement operation deck is longitudinally provided with a ground rail, the ground rail is provided with an electric pallet truck, and various kinds of towed measurement equipment, submersible vehicles and unmanned equipment are arranged on the electric pallet truck and conveyed to a shielding operation area through the ground rail.

5. A large ocean-going marine vessel according to claim 2, wherein: the CTD winch for the CTD operation of the thermohaline depth detector, the SVP winch for releasing and recovering the sound velocity detector, the optical cable winch for the deep towing operation, the coaxial cable winch for the side sweeping operation and the geological winch for the geological sampling and buoy retraction operation are arranged in the winch cabin.

6. The large-scale ocean channel survey vessel according to claim 5, wherein the CTD winch in the winch cabin is taken out of the cabin from the side of the ship through a pulley guide cable, and is matched with the hoisting device to complete the retraction and the operation of the warm salt depth sampler, and the winches in the other winch cabins are matched with the tail A frame for the towing measurement operation of various towing-type measuring equipment.

7. A large ocean-going marine vessel according to claim 1, wherein: the unmanned surveying vessel, the unmanned surveying aircraft and the unmanned underwater vehicle are combined with the surveying task requirement to realize the shipment in a modularized mode, and are matched with the sea channel surveying vessel to realize unmanned, intelligent and clustered surveying operation of the air, sea and underwater stereo surveying system.

8. A large ocean-going marine vessel according to claim 1, wherein: the front end face and the two side end faces of the bow hoisting accessory are semicircular in section, the rear end face is in a streamline wing form, the distance between the bow hoisting accessory and the ship body is about 700-800 mm, three hanging arms are arranged to be connected with the ship body, and the hanging arm sections are in a streamline wing form.

9. A large ocean-going marine vessel according to claim 8, wherein: and a plurality of underwater fixedly-mounted acoustic devices are arranged on the bow hoisting type attachment, and comprise shallow water single beams, deep water single beams, shallow water multi-beams, reclaimed water multi-beams, deep water multi-beams, acoustic Doppler flow profilers and shallow stratum profilers.

10. A large ocean-going marine vessel according to claim 1, wherein: the combined anti-rolling control system is arranged in a cab and an engine room centralized control room, so that digital and intelligent combined control over the anti-rolling fins and the anti-rolling water tanks is realized, and the wave resistance of the ship is improved.