CN215622551U - Underwater fixed-height towing device of metal detector - Google Patents
Underwater fixed-height towing device of metal detector Download PDFInfo
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- CN215622551U CN215622551U CN202121524259.8U CN202121524259U CN215622551U CN 215622551 U CN215622551 U CN 215622551U CN 202121524259 U CN202121524259 U CN 202121524259U CN 215622551 U CN215622551 U CN 215622551U
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- 239000002184 metal Substances 0.000 title claims abstract description 25
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 35
- 239000000463 material Substances 0.000 claims abstract description 27
- 238000000034 method Methods 0.000 claims abstract description 19
- 230000005484 gravity Effects 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 5
- 230000003287 optical effect Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract description 17
- 229910052755 nonmetal Inorganic materials 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The utility model discloses a metal detector underwater height-fixing towing device, belonging to the technical field of metal detector underwater height-fixing towing devices, wherein the other end of a height-fixing adjusting rod is fixedly assembled with a heavy towing rod arranged on a seabed through a towing rod draw hook, the other end of a towing body pull rope is fixedly assembled with a towing body through a towing body draw hook, a second floating body material is fixedly assembled on the towing body, a third floating body material is fixedly arranged on a towing body frame structure, the towing device comprises a water surface towing ship arranged on the sea surface, a towing cable pulley is fixedly arranged on the water surface towing ship, a towing cable on a manuscript-fixing device is wound and assembled on the towing cable pulley, an ultra-short base line sonar is fixedly assembled at the bottom of the water surface towing ship, the safety threat of obstacles such as an underwater fishing net and the like to an underwater towing carrier platform is reduced, the detection cost is reduced, and the detection efficiency is improved, the fixed-height towing method of the underwater towing body effectively solves the problem of the fixed-height towing method of the underwater towing body.
Description
Technical Field
The utility model relates to the technical field of a metal detector underwater fixed-height towing device, in particular to a metal detector underwater fixed-height towing device.
Background
The underwater buried metal target detection relates to the application in a plurality of fields, such as underwater buried oil and gas pipeline routing detection, seabed metal target detection, underwater metal evidence detection and the like, because the detection distance of an underwater electromagnetic detector is short, the metal detector can detect underwater metal targets only by being close to the underwater space, such as 1m, and the close distance enables an underwater detector carrier platform to have larger potential safety hazards in the detection process, such as fishing net hooking, collision to the underwater, large fixed height fluctuation and the like, and under the short-distance detection condition, the carried optical observation equipment can also observe targets more clearly, the detection and image observation can be carried out simultaneously, so that the existing dragging device cannot be suitable for dragging bodies needing near fixed height navigation, such as an underwater electromagnetic detector and the like, and the navigation posture and fixed height can not keep stability during dragging, potential safety hazards exist, and therefore the underwater fixed-height towing device of the metal detector is provided.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a water bottom fixed-height towing device of a metal detector, and the adopted towing method of the towing body for the water bottom fixed-height towing has the advantages that the towing body is closer to the space of a seabed, the device is suitable for towing the towing body of an underwater electromagnetic detector and the like which needs to navigate at the fixed height near the seabed, the navigation attitude and the fixed height are more stable, the safety is good, the detection cost is reduced, the detection efficiency is improved, and the problem of the fixed-height towing method of the towing body at the water bottom is effectively solved.
In order to achieve the purpose, the utility model provides the following technical scheme: a submarine height-fixing towing device of a metal detector comprises a sunk metal target arranged on a seabed and a underwater robot arranged under the sea, wherein a support structure is fixedly assembled on the underwater robot, towing cables are fixedly assembled on the support structure, first floating body materials are uniformly and fixedly assembled on the towing cables, height-fixing adjusting rods are fixedly assembled at the bottom ends of the towing cables, heavy towing rods arranged on the seabed are fixedly assembled at the other ends of the height-fixing adjusting rods through towing rod drag hooks, two adjacent groups of heavy towing rods are fixedly connected through a rod connecting structure, towing body drag ropes are fixedly connected onto the towing cables through towing body drag rope connecting points, towing bodies are fixedly assembled at the other ends of the towing body drag ropes through towing body drag hooks, and towing body frame structures are fixedly assembled at the rear ends of the towing bodies, a second floating body material is fixedly assembled on the towing body, a third floating body material is fixedly arranged on the towing body frame structure, and an electronic cabin is arranged in the underwater robot;
towing device is including setting up the surface of water tow boat on the sea, just fixed being provided with on the surface of water tow boat and towing the cable pulley, towing the cable winding assembly on the manuscript fixing device is towing the cable pulley, surface of water tow boat top is fixed with display terminal, the fixed ultrashort baseline sonar that is equipped with in bottom of surface of water tow boat.
Preferably, the towing body is towed before trial, the towing body pull rope connection point is fixed at a proper position on the towing body to ensure that the towing body can stably navigate, and the towing body cannot generate an inclination angle or swing and shake at different required navigation speeds, namely, the structural member cannot generate an asymmetric rudder effect.
Preferably, the height-fixing adjusting rod is of a rigid structure, and is in a certain inclination state under a stable navigational speed at the bottom, such as 45 degrees, namely, the underwater end is heavier, the towing body pull rope connecting point is at a required height, the towing body pull rope connecting point is connected with the towing body through the towing body pull rope and the towing body drag hook, and the towing body pull rope is of a rigid structure and used for limiting an included angle with the height-fixing adjusting rod.
Preferably, the rod connecting structure is a flexible connector and is connected with a plurality of rigid heavy towing rods, the weight of the heavy towing rods can ensure that the height-fixing adjusting rods have a certain posture at a certain speed, so that the towing body navigates at a certain posture with fixed height, the heavy towing rods are nonmagnetic non-metal rods, and the rod connecting structure can isolate vibration generated in the towing process of the heavy towing rods.
Preferably, the towed body can be towed by an above-water ship in shallow water or by an underwater robot, an ultra-short baseline sonar arranged on the above-water towed ship is a beacon for positioning the towed body, and information data such as the course, the optical observation result and the like on the underwater robot are recorded in a self-contained mode and are subjected to playback analysis when the towed body is towed by the underwater robot.
Preferably, the towed body has horizontal and vertical attitude requirements, the towed body is adjusted to the required attitude through center of gravity and center of buoyancy adjustment, the first floating body material and the towing cable are utilized to enlarge the distance between the center of gravity and the center of buoyancy as much as possible, the towed body is an underwater tumbler, the towed body has slight positive buoyancy and cannot sink in water, the first floating body material adjusts the height-fixing adjusting rod to be an underwater inclined attitude, one end of the first floating body material has enough negative buoyancy, and the towing body rope connection point has the required height.
Compared with the prior art, the utility model has the beneficial effects that: the utility model has reasonable structural design, the adopted towing method for fixing the height of the towing body at the bottom can be towed by a surface towing ship or an underwater robot, the towing body is close to the seabed, the space interval can be properly adjusted, the towing method is suitable for towing an underwater electromagnetic detector and the like which need to fix the height to navigate near the seabed, the towing body needs to be towed before trial, the towing body stay cord connecting point is fixed at a proper position on the towing body to ensure that the towing body can navigate stably, the towing body can not generate inclination angle or swing and shake under different required navigation speeds, namely, a structural member can not generate asymmetric rudder effect, the towing body has horizontal, vertical and other attitude requirements, firstly, the towing body is adjusted to be the required attitude by the center of gravity and the center of buoyancy through the adjustment of the center of gravity and the center of buoyancy, the distance between the center of gravity and the center of buoyancy is enlarged as much as possible by utilizing a first floating body material and a towing cable, so that the towing body is an underwater tumbler, the towing body has micro positive buoyancy and can not sink in water, the height-fixing adjusting rod is adjusted by the first floating body material to be in an underwater inclined posture, one end of the height-fixing adjusting rod has enough negative buoyancy, the connection point of the pulling rope of the towing body has the required height, the rod connection structure is a flexible connector and is connected with a plurality of rigid heavy towing rods, the weight of each heavy towing rod can ensure that the height-fixing adjusting rod has a certain posture at a certain speed so that the towing body can sail with the height-fixing posture, the heavy towing rods are non-magnetic non-metal rods, the rod connection structure can isolate vibration generated in the towing process of the heavy towing rods, the electromagnetic detector can not swing in the towing process of towing, the posture and the height-fixing are stable, fishing nets and aquatic plants can not be hooked, the safety performance is good, the structure is simple, and the safety threat of obstacles such as the underwater fishing nets to the underwater towing carrier platform is reduced, the method reduces the detection cost, improves the detection efficiency, and effectively solves the problem of fixed-height towing method of the underwater towing body.
Drawings
FIG. 1 is a schematic view of the underwater robot towing detection with fixed height at the bottom of the water;
FIG. 2 is a schematic diagram of an embodiment of the method for determining the height and towing of the surface vessel according to the present invention;
fig. 3 is a schematic diagram of the constant-height towing of the towing body with different structures according to the present invention.
In the figure: 1. a height-fixing adjusting rod; 2. a scaffold structure; 3. a first float material; 4. a towing cable; 5. a tow rope; 6. a dragging body drag hook; 7. a towed body; 8. a heavy tow bar; 9. a tow rope connection point; 10. an electronic compartment; 11. a drag link drag hook; 12. a rod connection structure; 13. a towed body frame structure; 14. a second float material; 15. a third float material; 16. sinking a bottom metal target; 17. a seabed; 18. an underwater robot; 19. sea surface; 20. a surface tug; 21. a trailing cable pulley; 22. a display terminal; 23. ultrashort baseline sonar.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and fig. 2, the present invention provides a technical solution: a submarine height-fixing towing device of a metal detector comprises a sunk metal target 16 arranged on a seabed 17 and an underwater robot 18 arranged below the sea surface 19, wherein a support structure 2 is fixedly assembled on the underwater robot 18, a towing cable 4 is fixedly assembled on the support structure 2, first floating body materials 3 are uniformly and fixedly assembled on the towing cable 4, a height-fixing adjusting rod 1 is fixedly assembled at the bottom end of the towing cable 4, the other end of the height-fixing adjusting rod 1 is fixedly assembled with a heavy towing rod 8 arranged on the seabed 17 through a towing rod drag hook 11, two adjacent groups of heavy towing rods 8 are fixedly connected through a rod connecting structure 12, a towing body pull rope 5 is fixedly connected on the towing cable 4 through a towing body pull rope connecting point 9, the other end of the towing body pull rope 5 is fixedly assembled with a towing body 7 through a towing body drag hook 6, and a towing body frame structure 13 is fixedly assembled at the upper rear end of the towing body 7, a second floating body material 14 is fixedly assembled on the towing body 7, a third floating body material 15 is fixedly arranged on the towing body frame structure 13, and an electronic cabin 10 is arranged in the underwater robot 18;
the towing device comprises a water surface towing ship 20 arranged on the sea surface 19, a towing cable pulley 21 is fixedly arranged on the water surface towing ship 20, a towing cable 4 on the draft fixing device is wound and assembled on the towing cable pulley 21, a display terminal 22 is fixed to the top of the water surface towing ship 20, and an ultra-short baseline sonar 23 is fixedly assembled at the bottom of the water surface towing ship 20.
The towing body 7 is towed before test, the towing body pull rope connection point 9 is fixed at a proper position on the towing body 7 to ensure that the towing body 7 can sail stably, and the towing body 7 cannot generate an inclination angle or swing and shake under different required sailing speeds, namely, the structural part cannot generate an asymmetric rudder effect;
the fixed height adjusting rod 1 is of a rigid structure, and is in a certain inclination state under stable navigational speed on the water bottom, such as 45 degrees, namely, one end of the water bottom is heavier, the towing body pull rope connecting point 9 is in a required height, the towing body pull rope connecting point 9 is connected with the towing body 7 through the towing body pull rope 5 and the towing body drag hook 6, and the towing body pull rope 5 is of a rigid structure and is used for limiting an included angle between the fixed height adjusting rod 1 and the towing body pull rope 5;
the rod connecting structure 12 is a flexible connector and is connected with a plurality of rigid heavy towing rods 8, the weight of the heavy towing rods 8 can ensure that the height-fixed adjusting rod 1 has a certain posture at a certain speed, so that the towing body 7 navigates at a certain posture with fixed height, the heavy towing rods 8 are nonmagnetic non-metallic rods, and the rod connecting structure 12 can isolate vibration generated in the towing process of the heavy towing rods 8;
the towed body 7 can be towed by an underwater ship or towed by an underwater robot 18 under the condition of shallow water, an ultra-short baseline sonar 23 arranged on the water surface towed ship 20 is a beacon for positioning the towed body 7, and information data such as the course, the voyage, the optical observation result and the like on the underwater robot 18 are recorded in a self-contained mode and are subjected to playback analysis when the towed body is towed by the underwater robot;
the towing body 7 has horizontal and vertical posture requirements, firstly, the towing body 7 is adjusted to be the required posture through the adjustment of the gravity center and the floating center, the first floating body material 3 and the towing cable 4 are utilized to enlarge the distance between the gravity center and the floating center as much as possible, the towing body 7 is an underwater tumbler, the towing body 7 has slight positive buoyancy and cannot sink in water, the first floating body material 3 adjusts the height-fixing adjusting rod 1 to be the underwater inclined posture, one end of the first floating body material has enough negative buoyancy, and the towing body rope connecting point 9 has the required height;
the working principle is as follows: the method for towing the towed body 7 with fixed height at the bottom of the water can be towed by a water surface towing vessel 20 or an underwater robot 18, the towed body 7 is close to a seabed 17, the space interval can be properly adjusted, the method is suitable for towing an underwater electromagnetic detector and the like which need to navigate with fixed height at the near seabed, the towed body 7 needs to be towed before trial, a towed body pull rope connecting point 9 is fixed at a proper position on the towed body 7 to ensure that the towed body 7 can navigate stably, the towed body 7 cannot generate inclination angle or swing and shake under different required navigation speeds, namely, a structural part cannot generate asymmetric rudder effect, the towed body 7 has requirements on horizontal posture, vertical posture and the like, firstly, the towed body 7 is adjusted to be the required posture through the center of gravity and the center of buoyancy, the distance between the center of gravity and the center of buoyancy is enlarged as much as possible by utilizing a first floating body material 3 and a towing cable 4, so that the towed body 7 is underwater tumbler, the towing body 7 has slight positive buoyancy and can not sink in water, the first floating body material 3 adjusts the height-fixing adjusting rod 1 to be in an underwater inclined posture, one end of the first floating body material has enough negative buoyancy, the towing body pull rope connection point 9 has a required height, the rod connection structure 12 is a flexible connector and is connected with a plurality of rigid heavy towing rods 8, the weight of the heavy towing rods 8 can ensure that the height-fixing adjusting rod 1 has a certain posture at a certain speed, so that the towing body 7 navigates at a certain height in a fixed posture, the heavy towing rods 8 are non-magnetic non-metal rods, the rod connection structure 12 can isolate the vibration generated in the towing process of the heavy towing rods 8, the electromagnetic detector does not generate swing in the towing navigation, the posture and the fixed height are stable, fishing nets and aquatic plants are not hooked, the safety is good, the structure is simple, the safety threat of obstacles such as underwater fishing nets to the underwater towing carrier platform is reduced, the detection cost is reduced, the detection efficiency is improved, and the problem of the fixed-height towing method of the underwater towing body 7 is effectively solved.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a high tow arrangement is decided at metal detector's bottom which characterized in that: the height fixing device comprises a sunk metal target (16) arranged on a seabed (17) and an underwater robot (18) arranged below the sea surface (19), a support structure (2) is fixedly assembled on the underwater robot (18), a towing cable (4) is fixedly assembled on the support structure (2), a first floating body material (3) is uniformly and fixedly assembled on the towing cable (4), a height fixing adjusting rod (1) is fixedly assembled at the bottom end of the towing cable (4), the other end of the height fixing adjusting rod (1) is fixedly assembled with a heavy towing rod (8) arranged on the seabed (17) through a towing rod drag hook (11), two adjacent groups of heavy towing rods (8) are fixedly connected through a rod connecting structure (12), and a towing body drag rope (5) is fixedly connected to the towing cable (4) through a towing body drag rope connecting point (9), a towing body (7) is fixedly assembled on the other end of the towing body pull rope (5) through a fixed towing body drag hook (6), a towing body frame structure (13) is fixedly assembled on the rear end of the towing body (7), a second floating body material (14) is fixedly assembled on the towing body (7), a third floating body material (15) is fixedly arranged on the towing body frame structure (13), and an electronic cabin (10) is arranged in the underwater robot (18);
the towing device comprises a water surface towing ship (20) arranged on the sea surface (19), a towing cable pulley (21) is fixedly arranged on the water surface towing ship (20), a towing cable (4) on the draft fixing device is wound and assembled on the towing cable pulley (21), a display terminal (22) is fixed to the top of the water surface towing ship (20), and an ultra-short baseline sonar (23) is fixedly assembled at the bottom of the water surface towing ship (20).
2. The underwater fixed-height towing device of a metal detector of claim 1, wherein: the towing body (7) is towed before trial, the towing body pull rope connecting point (9) is fixed at a proper position on the towing body (7) to ensure that the towing body (7) can sail stably, and the towing body (7) cannot generate an inclination angle or swing and shake under different required sailing speeds, namely, the structural part cannot generate an asymmetric rudder effect.
3. The underwater fixed-height towing device of a metal detector of claim 1, wherein: decide high adjusting lever (1) and be rigid structure, certain tilt state under for stable navigational speed at the bottom, if 45 degrees, it is heavier at submarine one end promptly, towed body stay cord tie point (9) is the height of requirement, towed body stay cord tie point (9) are through towed body stay cord (5), towed body drag hook (6) connection towed body (7), towed body stay cord (5) are rigid structure for the contained angle of restriction and decide high adjusting lever (1).
4. The underwater fixed-height towing device of a metal detector of claim 1, wherein: the pole connection structure (12) is a flexible connector and is connected with a plurality of rigid heavy towing poles (8), the weight of the heavy towing poles (8) can ensure that the height-fixing adjusting pole (1) has a certain posture at a certain speed, so that the towing body (7) navigates at a certain posture height, the heavy towing poles (8) are nonmagnetic non-metallic poles, and the pole connection structure (12) can isolate the vibration generated in the towing process of the heavy towing poles (8).
5. The underwater fixed-height towing device of a metal detector of claim 1, wherein: the towed body (7) can be towed by an underwater ship or an underwater robot (18) under the condition of shallow water, an ultra-short baseline sonar (23) arranged on the water surface towed ship (20) is a beacon for positioning the towed body (7), and information data such as the course, the voyage, the optical observation result and the like on the underwater robot (18) are recorded in a self-contained mode and are subjected to playback analysis when the towed body is towed by the underwater robot.
6. The underwater fixed-height towing device of a metal detector of claim 1, wherein: the towing body (7) has horizontal and vertical posture requirements, firstly, the towing body (7) is adjusted to be in a required posture through the adjustment of the gravity center and the floating center, the distance between the gravity center and the floating center is enlarged as much as possible by utilizing the first floating body material (3) and the towing cable (4), the towing body (7) is made to be an underwater tumbler, the towing body (7) has slight positive buoyancy and cannot sink in water, the height-fixing adjusting rod (1) is adjusted to be in an underwater inclined posture by the first floating body material (3), one end of the height-fixing adjusting rod has enough negative buoyancy, and the towing body pull rope connecting point (9) has a required height.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121524259.8U CN215622551U (en) | 2021-07-06 | 2021-07-06 | Underwater fixed-height towing device of metal detector |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121524259.8U CN215622551U (en) | 2021-07-06 | 2021-07-06 | Underwater fixed-height towing device of metal detector |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113277008A (en) * | 2021-07-06 | 2021-08-20 | 昆明理工大学 | Underwater fixed-height towing device and method for metal detector |
| CN114715344A (en) * | 2022-05-06 | 2022-07-08 | 中电科（宁波）海洋电子研究院有限公司 | Control method of mobile multilayer marine environment profile monitoring system |
-
2021
- 2021-07-06 CN CN202121524259.8U patent/CN215622551U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113277008A (en) * | 2021-07-06 | 2021-08-20 | 昆明理工大学 | Underwater fixed-height towing device and method for metal detector |
| CN114715344A (en) * | 2022-05-06 | 2022-07-08 | 中电科（宁波）海洋电子研究院有限公司 | Control method of mobile multilayer marine environment profile monitoring system |
| CN114715344B (en) * | 2022-05-06 | 2023-04-07 | 中电科（宁波）海洋电子研究院有限公司 | Control method of mobile multilayer marine environment profile monitoring system |
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