JP2006220436A - Apparatus for reducing effect of oscillation of multi-beam echo sounding device or ocean floor research vessel with same - Google Patents

Apparatus for reducing effect of oscillation of multi-beam echo sounding device or ocean floor research vessel with same Download PDF

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JP2006220436A
JP2006220436A JP2005031712A JP2005031712A JP2006220436A JP 2006220436 A JP2006220436 A JP 2006220436A JP 2005031712 A JP2005031712 A JP 2005031712A JP 2005031712 A JP2005031712 A JP 2005031712A JP 2006220436 A JP2006220436 A JP 2006220436A
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ship
sonar
sonar dome
dome
attitude control
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Seishichi Nakagawa
清七 中川
Toru Mada
徹 磨田
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Mitsubishi Heavy Industries Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide an apparatus with simple configuration for reducing the effects of oscillations of a multi-beam echo sounding device capable of preventing a measurable zone Z from becoming narrow, acquiring accurate measurement results, eliminating the need for peripheral facilities such as a suspending device etc. , and performing measurements even under adverse weather conditions. <P>SOLUTION: The apparatus built in a sonar dome arranged in the bottom of a ship is provided with a main supporting member suspended from the bottom of the ship and having a lower end connected to the sonar dome; a plurality of attitude control cylinders for connecting right and left end parts and front rear ends of the sonar dome to the ship bottom; an oscillation detector provided for the ship for detecting oscillations of the ship; and an oscillation effect reduction control device for controlling the length of stroke of the plurality of attitude control cylinders on the basis of signals from the oscillation detector. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

本発明は、船舶の船底に配設され、海底地形の測量を行うマルチビーム測深装置の動揺影響軽減装置又はこれを備えた海底探査船に関する。   The present invention relates to a fluctuation effect reducing device of a multi-beam sounding device that is arranged on the bottom of a ship and measures a seafloor topography, or to a submarine exploration ship equipped with the same.

従来、海底地形の計測を行うソナードームとしては、図４、５、６に図示のように、ソナー４１を内蔵したソナードーム４０を、船舶１の船底２に固設したものが提案されている（例えば、特許文献１。）。
上述のものでは、航行海域が悪天候の場合、図７に図示のように、海面Ｗ上を航行する船舶１は、波、風等により動揺しソナードームの向きが変化するために、ソナードーム４０内のソナーから発信された発信ビームＢｔが海底Ａで反射して反射ビームＢｒとしてソナードーム４０内のソナーで受信するときに、発信ビームＢｔのゾーンと発信ビームＢｔの受信可能なゾーンとにずれが発生するために、計測可能なゾーンＺが狭くなるという問題がある。
また、上述のものは、船舶の動揺を検出してソナーの受信信号を計算機にて補正する必要があるが、測深対象である海底が深くなるほど、また船舶の動揺が激しいほど精度が悪化するという問題もある。 Conventionally, as a sonar dome for measuring the seabed topography, a sonar dome 40 in which a sonar dome 40 having a built-in sonar 41 is fixed to the ship bottom 2 of the ship 1 is proposed as shown in FIGS. (For example, Patent Document 1).
In the case described above, when the navigating sea area is in bad weather, as shown in FIG. 7, the ship 1 navigating on the sea surface W is shaken by waves, winds, etc., and the direction of the sonar dome changes. When the transmission beam Bt transmitted from the inner sonar is reflected by the seabed A and received by the sonar in the sonar dome 40 as the reflected beam Br, the zone of the transmission beam Bt is shifted to the zone where the transmission beam Bt can be received. Therefore, there is a problem that the measurable zone Z becomes narrow.
In addition, the above-mentioned thing needs to detect the fluctuation of the ship and correct the received signal of the sonar with a computer, but the accuracy worsens as the seabed that is the object of depth measurement becomes deeper and the fluctuation of the ship becomes more severe. There is also a problem.

一方、マルチビーム測深ソナーを、船舶の舷側からクレーン等により吊下げて計測するものも提案されている（例えば、特許文献２。）。
この場合、ソナーヘッドは吊下げられているので、ソナーヘッドの向きはあまり変化しないように思われるが、船舶の航行に伴う推進抵抗等により、ソナーヘッドは後方に押しやられるため、ソナーヘッドの姿勢制御、移動した位置の補正等が必要となり、計測データを受信した後の計算機での補正処理が複雑になるという問題がある。
更に、上述のものは、クレーン等の吊下げ装置等の周辺設備も大掛かりとなる。 On the other hand, what measures by suspending a multi-beam sounding sonar with a crane etc. from the side of a ship is also proposed (for example, patent document 2).
In this case, since the sonar head is suspended, it seems that the direction of the sonar head does not change so much, but because the sonar head is pushed backward due to the propulsion resistance etc. accompanying the navigation of the ship, the position of the sonar head There is a problem that the control, the correction of the moved position, and the like are necessary, and the correction processing in the computer after receiving the measurement data becomes complicated.
Further, the above-described device also requires a large amount of peripheral equipment such as a suspension device such as a crane.

その他、船底にファンビーム測深機の送受波器を船底に固定したものとしては特許文献３に記載のものが提案され、また、マルチビーム側方探査ソナーを船尾から降ろして曳航するものとしては特許文献４に記載のものも提案されている。   In addition, the one described in Patent Document 3 is proposed as a transducer for a fan beam sounding device fixed to the bottom of the ship, and a patent for towing the multi-beam side exploration sonar from the stern. The thing of literature 4 is also proposed.

特開平９−２４３７３２号公報JP-A-9-243732 特開平１０−３２５８７１号公報Japanese Patent Laid-Open No. 10-325871 特開平７−１４０２４３号公報JP-A-7-140243 特開平５−２７３３３３号公報JP-A-5-273333

上述のごとく、従来のものは、いずれもソナーの送受波器を船底に固定するか、或いは、舷側、船尾から下ろして曳航するものである。
そして、船底に固定したものでは、計測可能なゾーンＺが狭くなるという問題があり、また、舷側、船尾から下ろして曳航するものでは、クレーン等の吊下げ装置等の周辺設備も大掛かりとなると共に、悪天候時には、クレーン等の吊下げ装置のハンドリングに危険が伴い、場合によっては曳航物が破損するという問題もある。 As described above, the conventional ones either fix the sonar transducer on the bottom of the ship, or tow down from the stern side or the stern.
In addition, there is a problem that the measurable zone Z is narrow in the case of being fixed to the bottom of the ship, and in the case of being towed down from the stern side or the stern, peripheral equipment such as a suspension device such as a crane becomes large. In bad weather, handling of a suspension device such as a crane is dangerous, and there is a problem that a towed object is damaged in some cases.

本発明は、計測可能なゾーンＺが狭くならず、正確な計測結果が得られ、且つ、吊下げ装置等の周辺設備等が不要で、悪天候でも計測可能なマルチビーム音響測深装置の動揺影響軽減装置又はこれを備えた海底探査船を提供することを目的とする。   In the present invention, the measurable zone Z is not narrowed, an accurate measurement result can be obtained, peripheral equipment such as a suspension device is not required, and the influence of shaking of the multi-beam acoustic sounding device that can be measured even in bad weather is reduced. An object is to provide a device or a submarine exploration ship equipped with the device.

本発明は、上記従来の課題を解決するためになされたもので、特許請求の範囲に記載された各発明は、マルチビーム音響測深装置の動揺影響軽減装置又はこれを備えた海底探査船として、それぞれ以下の（１）〜（４）に述べる各手段を採用したものである。   The present invention has been made to solve the above-described conventional problems, and each of the inventions described in the claims can be used as a multi-beam acoustic sounding device or a submarine exploration ship equipped with the same. Each means described in the following (1) to (4) is adopted.

（１）第１の手段のマルチビーム音響測深装置の動揺影響軽減装置は、船舶の船底に配設されたソナードームに内蔵されたマルチビーム音響測深装置の動揺影響軽減装置において、船舶の船底から垂下され下端部が前記ソナードームに連結された主支持部材と、前記ソナードームの左右端部及び前後端部と前記船底とを連結する複数の姿勢制御シリンダと、前記船舶に設けられ前記船舶の動揺を検出する動揺検出器と、該動揺検出器からの信号に基づき前記複数の姿勢制御シリンダのストローク長を制御する動揺影響軽減制御装置とを備えたことを特徴とする。   (1) A vibration influence reducing device for a multi-beam acoustic sounding device according to a first means is a vibration effect reducing device for a multi-beam acoustic sounding device built in a sonar dome disposed on the ship bottom. A main support member that is suspended and has a lower end connected to the sonar dome, a plurality of attitude control cylinders that connect left and right ends and front and rear ends of the sonar dome, and the ship bottom, and A fluctuation detector for detecting fluctuation and a fluctuation influence reduction control device for controlling the stroke length of the plurality of attitude control cylinders based on a signal from the fluctuation detector are provided.

（２）第２の手段のマルチビーム音響測深装置の動揺影響軽減装置は、前記第１の手段において、前記主支持部材は、前記船底に固定されていることを特徴とする。   (2) The fluctuation influence reducing device for the multi-beam acoustic sounding device according to the second means is characterized in that, in the first means, the main support member is fixed to the ship bottom.

（３）第３の手段のマルチビーム音響測深装置の動揺影響軽減装置は、前記第１の手段において、前記船底に船底リセスが設けられ、前記主支持部材は前記船底リセスに昇降自在に嵌め込まれていることを特徴とする。   (3) In the first means, the apparatus for reducing the influence of fluctuation of the multi-beam acoustic sounding device of the third means is provided with a bottom recess in the bottom of the ship, and the main support member is fitted in the bottom recess so as to be movable up and down. It is characterized by.

（４）第４の手段のマルチビーム音響測深装置の動揺影響軽減装置を備えた探査船は、
ソナードームと、前記ソナードーム内に前後方向に設けられたマルチビーム発信器及び左右方向に設けられたマルチビーム受信器と、前記ソナードーム内に設けられ前記ソナードーム内の動揺を検出する第２の動揺検出器と、該第２の動揺検出器からの検出信号に基づき前記マルチビーム受信器からの測深信号を補正するマルチビーム音響測深装置本体と、前記第１〜３のいずれかの手段に記載のマルチビーム音響測深装置の動揺影響軽減装置とを備えたことを特徴とする。 (4) An exploration ship equipped with the fluctuation effect reducing device of the multi-beam acoustic sounding device of the fourth means is
A sonar dome, a multi-beam transmitter provided in the front-rear direction and a multi-beam receiver provided in the left-right direction in the sonar dome, and a second detecting in the sonar dome provided in the sonar dome. A multi-beam acoustic sounding device main body for correcting a depth-measuring signal from the multi-beam receiver based on a detection signal from the second motion detector, and any one of the first to third means And a fluctuation effect reducing device for the multi-beam acoustic sounding device described above.

特許請求の範囲に記載の請求項１〜４に係る発明は、上記の（１）〜（４）に記載の各手段を採用しているので、ソナードームを主支持部材、複数の姿勢制御シリンダにより連結すると共に、動揺影響軽減制御装置により、動揺検出器からの信号に基づき前記複数の姿勢制御シリンダのストローク長は制御されるので、ソナードームの動揺は少なくなり、マルチビーム発信器の発信ゾーンとマルチビーム受信器の受信ゾーンとがずれることがなく、計測可能なゾーンは狭くならない。
その結果、精度の良い計測結果が得られる。
また、ソナードームは、船底に配設されているので、計測時にマルチビーム発信器及びマルチビーム受信器を揚げ降ろしする必要がなく、悪天候でも安全に測深計測を行うことができる。 Since the inventions according to claims 1 to 4 of the claims employ the means described in the above (1) to (4), the sonar dome is a main support member, and a plurality of attitude control cylinders. In addition, since the stroke length of the plurality of attitude control cylinders is controlled based on the signal from the motion detector by the motion effect reduction control device, the motion of the sonar dome is reduced and the transmission zone of the multi-beam transmitter is reduced. And the reception zone of the multi-beam receiver are not shifted, and the measurable zone is not narrowed.
As a result, a highly accurate measurement result can be obtained.
Further, since the sonar dome is disposed on the bottom of the ship, it is not necessary to lift and lower the multi-beam transmitter and the multi-beam receiver at the time of measurement, and the depth measurement can be safely performed even in bad weather.

以下、本発明の実施の形態に係るマルチビーム音響測深装置の動揺影響軽減装置につき、図１〜図３を参照して説明する。
図１は、本発明の実施の形態に係るマルチビーム音響測深装置の動揺影響軽減装置を示す正面図、図２は、図１のＡ−Ａ矢視断面図、図３は、図１のＢ−Ｂ矢視断面図である。 Hereinafter, the fluctuation influence reducing device of the multi-beam acoustic sounding device according to the embodiment of the present invention will be described with reference to FIGS.
1 is a front view showing a fluctuation influence reducing device of a multi-beam acoustic sounding device according to an embodiment of the present invention, FIG. 2 is a cross-sectional view taken along line AA in FIG. 1, and FIG. It is -B arrow sectional drawing.

図１、２、３に図示のように、船舶１の船首尾方向の船首から約２／３付近の船体中心の船底２には、ソナードーム１０を支持する主支持部材４が、下方に向かって垂下されている。
また、船底２には船底リセス８が設けられ、主支持部材４の上半部は、この船底リセス８内に昇降自在に嵌め込まれている。
更に、主支持部材４の上端部は、主支持装置昇降用シリンダ７により船底リセス８の内面に連結されている。
そして、主支持装置昇降用シリンダ７を伸縮させることにより、ソナードーム１０の深度を制御できるようになっている。 As shown in FIGS. 1, 2, and 3, the main support member 4 that supports the sonar dome 10 faces downward on the ship bottom 2 at the center of the hull about 2/3 from the bow in the bow-stern direction of the ship 1. Is drooping.
Further, a ship bottom recess 8 is provided on the ship bottom 2, and the upper half of the main support member 4 is fitted in the ship bottom recess 8 so as to be movable up and down.
Further, the upper end portion of the main support member 4 is connected to the inner surface of the ship bottom recess 8 by a main support device lifting cylinder 7.
The depth of the sonar dome 10 can be controlled by extending and contracting the main support device elevating cylinder 7.

なお、この主支持装置昇降用シリンダ７は必ずしも必要なものではなく、バネでも、更には無くても良い。
また、上述のものは、主支持部材４を昇降可能に船底に配設しているが、これに限定されるものではなく、主支持部材４を船底２に固定しても良い。
また、主支持部材４の船底２から突出した部分の長さは、船舶の最大ローリング角度（或いは計測時最大ローリング角度）をθとした場合、ソナードーム１０の幅×１／２×ｓｉｎθ以上とする必要がある。 The main support device elevating cylinder 7 is not necessarily required, and may be a spring or may not be provided.
Moreover, although the above-mentioned thing has arrange | positioned the main support member 4 in the ship bottom so that raising / lowering is possible, it is not limited to this, You may fix the main support member 4 to the ship bottom 2. FIG.
The length of the portion of the main support member 4 that protrudes from the bottom 2 is equal to or larger than the width of the sonar dome 10 × 1/2 × sin θ, where θ is the maximum rolling angle of the ship (or the maximum rolling angle during measurement). There is a need to.

図３等に図示のように、主支持部材４の下端には、２方向軸受（垂直軸周りの回動を規制する球面軸受、或いは、直交する２軸軸受）５を介してソナードーム１０が連結されている。
また、主支持部材４の外周の下端とソナードーム１０の上面とは、蛇腹状のカバー６が取付けられており、このカバー６により
２方向軸受５を海水から保護するようになっている。 As shown in FIG. 3 and the like, a sonar dome 10 is disposed at the lower end of the main support member 4 via a bi-directional bearing 5 (a spherical bearing that restricts rotation around a vertical axis or an orthogonal biaxial bearing) 5. It is connected.
Also, a bellows-like cover 6 is attached to the lower end of the outer periphery of the main support member 4 and the upper surface of the sonar dome 10, and the two-way bearing 5 is protected from seawater by this cover 6.

また、図１〜図３等に図示のように、ソナードーム１０の左右、後部は、各々船底２と右舷側姿勢制御シリンダ３Ｒ、左舷側姿勢制御シリンダ３Ｌ、船尾側姿勢制御シリンダ３Ａにより連結されている。
なお、ソナードーム１０、主支持部材４及びカバー６の外形断面形状は、流線形状となっているが、右舷側姿勢制御シリンダ３Ｒ、左舷側姿勢制御シリンダ３Ｌ、船尾側姿勢制御シリンダ３Ａの外形断面形状も、シリンダそのものを流線形状とするか、或いは流線形状の蛇腹カバーを取付けるようにしても良い。 1 to 3 and the like, the left and right and rear portions of the sonar dome 10 are connected by the ship bottom 2, a starboard side attitude control cylinder 3R, a port side attitude control cylinder 3L, and a stern side attitude control cylinder 3A, respectively. ing.
The sonar dome 10, the main support member 4 and the cover 6 have a streamlined cross-sectional shape, but the outer shapes of the starboard side attitude control cylinder 3R, the port side attitude control cylinder 3L and the stern side attitude control cylinder 3A. As for the cross-sectional shape, the cylinder itself may be streamlined or a streamlined bellows cover may be attached.

次に、ソナードーム１０に内蔵された機器につき説明する。
図２に図示のように、ソナードーム１０内には、前後方向（船舶１の船首尾方向）に延在するマルチビーム発信器１１が配設されている。
このマルチビーム発信器１１は、左右方向に扇型のビームを発信するビーム発信器を、前後方向に複数個（数個〜数十個）備えている。
更に、ソナードーム１０内には、マルチビーム発信器１１と直交するように左右方向（船舶１の左右舷方向）に延在するマルチビーム受信器１２が配設されている。
このマルチビーム受信器１２は、前後方向に扇型のビーム形状で反射波を待ち受けるビーム受信器を、左右方向に複数個（数個〜数十個）備えている。 Next, a device built in the sonar dome 10 will be described.
As shown in FIG. 2, a multi-beam transmitter 11 extending in the front-rear direction (the bow-stern direction of the ship 1) is disposed in the sonar dome 10.
The multi-beam transmitter 11 includes a plurality (several to several tens) of beam transmitters that transmit a fan-shaped beam in the left-right direction.
Further, in the sonar dome 10, a multi-beam receiver 12 extending in the left-right direction (the left-right ridge direction of the ship 1) is disposed so as to be orthogonal to the multi-beam transmitter 11.
The multi-beam receiver 12 includes a plurality (several to several tens) of beam receivers that wait for a reflected wave in a fan-shaped beam shape in the front-rear direction.

このマルチビーム発信器１１及びマルチビーム受信器１２からなるマルチビーム測深機は、クロスファンビーム方式と呼ばれており、複数個のマルチビーム発信器１１から左右方向に扇型の指向性の鋭い複数本の音響ビームを一度に発信し、海底Ａからの反射波を前後方向に扇形のビーム形状で受信することにより、交点それぞれの測定値を得るものである。
これにより、海底Ａを、かなりの幅をもって帯状に隙間無く測深することができる。 The multi-beam sounding device including the multi-beam transmitter 11 and the multi-beam receiver 12 is called a cross fan beam system, and a plurality of multi-beam transmitters 11 have a plurality of sharp fan-shaped directivities in the horizontal direction. By transmitting a single acoustic beam at a time and receiving a reflected wave from the seabed A in a fan-shaped beam shape in the front-rear direction, the measured value at each intersection is obtained.
Thereby, the seabed A can be deeply measured with a considerable width in a band shape without a gap.

また、ソナードーム１０内には、潮流の流速を検出する潮流検出器１３、海水中を伝播する音波の音響速度を検出する音響速度検出器１４が配設されている。
更に、ソナードーム１０の中心線上前方には、ソナードーム１０の動揺（ローリング及びピッチングの角度、角速度或いは角加速度、又は／及び上下左右の偏差、移動速度、移動加速度）を検出するドーム動揺検出器（第２の動揺検出器）１５が配設されている。 In the sonar dome 10, a tidal current detector 13 for detecting a tidal current velocity and an acoustic velocity detector 14 for detecting the acoustic velocity of a sound wave propagating in seawater are arranged.
Further, a dome motion detector that detects the motion of the sonar dome 10 (rolling and pitching angle, angular velocity or angular acceleration, and / or vertical / horizontal deviation, moving speed, moving acceleration) is located forward of the center line of the sonar dome 10. (Second motion detector) 15 is provided.

一方、図１に図示のように、船舶１内には、船舶１の動揺（ローリング及びピッチングの角度、角速度或いは角加速度、又は／及び上下左右の偏差、移動速度、移動加速度）を検出する船舶動揺検出器１６が配設されている。
また、右舷側姿勢制御シリンダ３Ｒ、左舷側姿勢制御シリンダ３Ｌ、船尾側姿勢制御シリンダ３Ａのストロークを制御する動揺影響軽減制御装置２０、及びマルチビーム発信器１１に超音波パルス信号を送信し、マルチビーム受信器１２から測深信号を受信するマルチビーム音響測深装置本体２１が配設されている。
このマルチビーム音響測深装置本体２１は、表示器及び各種の演算・処理を行うコンピュータ等から構成されている。 On the other hand, as shown in FIG. 1, in the ship 1, a ship that detects the sway of the ship 1 (rolling and pitching angle, angular velocity or angular acceleration, and / or vertical / horizontal deviation, moving speed, moving acceleration). A motion detector 16 is provided.
Also, ultrasonic pulse signals are transmitted to the fluctuation effect reducing control device 20 that controls the strokes of the starboard side attitude control cylinder 3R, the port side attitude control cylinder 3L, the stern side attitude control cylinder 3A, and the multi-beam transmitter 11, A multi-beam acoustic sounding device main body 21 that receives a depth measurement signal from the beam receiver 12 is provided.
The multi-beam acoustic sounding device main body 21 is composed of a display, a computer for performing various calculations and processes, and the like.

更に、船舶１内には、図示略の船位を測定するＧＰＳ測位装置、方位を測定する方位コンパス等も配設されている。   Further, a GPS positioning device that measures a ship position (not shown), an azimuth compass that measures an azimuth, and the like are disposed in the ship 1.

そして、船舶１のローリング時、船舶１内に配設された船舶動揺検出器１６からの動揺検出信号は動揺影響軽減制御装置２０に送信される。
動揺影響軽減制御装置２０では、この動揺検出信号に基づき、ソナードーム１０を水平に保つために必要な右舷側姿勢制御シリンダ３Ｒ、左舷側姿勢制御シリンダ３Ｌ及び船尾側姿勢制御シリンダ３Ａのピストンストローク変化量が演算される。
この結果に基づき、右舷側姿勢制御シリンダ３Ｒ、左舷側姿勢制御シリンダ３Ｌ及び船尾側姿勢制御シリンダ３Ａが制御される。 Then, when the ship 1 is rolling, a shake detection signal from the ship shake detector 16 disposed in the ship 1 is transmitted to the shake effect reduction control device 20.
On the basis of the fluctuation detection signal, the fluctuation influence reduction control device 20 changes the piston stroke of the starboard attitude control cylinder 3R, the port attitude attitude control cylinder 3L, and the stern attitude control cylinder 3A necessary to keep the sonar dome 10 horizontal. The quantity is calculated.
Based on this result, the starboard side attitude control cylinder 3R, the port side attitude control cylinder 3L, and the stern side attitude control cylinder 3A are controlled.

一方、ソナードーム１０内に配設されたドーム動揺検出器１５からの動揺検出信号はマルチビーム音響測深装置本体２１に送信される。
更に、マルチビーム音響測深装置本体２１には、潮流検出器１３及び音響速度検出器１４からの各検出信号も送信されている。
そして、マルチビーム音響測深装置本体２１では、マルチビーム受信器１２からの測深信号は、ドーム動揺検出器１５からの動揺検出信号、潮流検出器１３及び音響速度検出器１４からの各検出信号に基づき補正される。 On the other hand, the motion detection signal from the dome motion detector 15 disposed in the sonar dome 10 is transmitted to the multi-beam acoustic sounding device main body 21.
Furthermore, the detection signals from the tidal current detector 13 and the acoustic velocity detector 14 are also transmitted to the multi-beam acoustic sounding device main body 21.
In the multi-beam acoustic sounding device main body 21, the depth measurement signal from the multi-beam receiver 12 is based on the motion detection signal from the dome motion detector 15, the detection signals from the tidal current detector 13 and the acoustic velocity detector 14. It is corrected.

この時、船舶１の大きな動揺は、動揺影響軽減制御装置２０、右舷側姿勢制御シリンダ３Ｒ、左舷側姿勢制御シリンダ３Ｌ及び船尾側姿勢制御シリンダ３Ａにより抑制され、ドーム動揺検出器１５にて検出される動揺は小さなものとなっているため、マルチビーム音響測深装置本体２１での補正演算を最小限に抑えることが可能となり、測深精度が向上する。   At this time, large fluctuation of the ship 1 is suppressed by the fluctuation influence reduction control device 20, starboard side attitude control cylinder 3R, port side attitude control cylinder 3L and stern side attitude control cylinder 3A, and is detected by the dome fluctuation detector 15. Therefore, the correction calculation in the multi-beam acoustic sounding device main body 21 can be minimized, and the sounding accuracy is improved.

以上、本発明の各実施の形態について説明したが、本発明は上記の各実施の形態に限定されず、本発明の範囲内でその具体的構造に種々の変更を加えてよいことはいうまでもない。   Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and it goes without saying that various modifications may be made to the specific structure within the scope of the present invention. Nor.

例えば、ソナードーム１０の垂直断面形状は、図３に図示のように流線形状としているが、上面が平らな（船底２の面に平行な）半流線形状としても良い。
更に、上述の構成のものは、ソナードーム１０が、常に船底２から突出し離れた状態のものとなっているが、これに限定されるものではなく、例えば、右舷側姿勢制御シリンダ３Ｒ、左舷側姿勢制御シリンダ３Ｌ、船尾側姿勢制御シリンダ３Ａを収納するリセスを各々船底２に設けて、ソナーの非使用時或いは静穏な海域での計測時には、ソナードーム１０を上昇させ船底２に着座させるようにしても良い。 For example, the vertical sectional shape of the sonar dome 10 is a streamline shape as shown in FIG. 3, but may be a semi-streamline shape with a flat upper surface (parallel to the surface of the ship bottom 2).
Further, in the above-described configuration, the sonar dome 10 is always in a state of projecting away from the ship bottom 2, but is not limited to this. For example, the starboard side attitude control cylinder 3R, the port side Recesses for housing the attitude control cylinder 3L and the stern side attitude control cylinder 3A are provided on the bottom 2 respectively, and the sonar dome 10 is raised and seated on the bottom 2 when the sonar is not used or when measuring in a calm sea area. May be.

或いは、流線形状のソナードーム１０収納用のリセスも船底２に設けて、ソナードーム１０の上半分を収納するようにしても良い。   Alternatively, a recess for storing the sonar dome 10 having a streamline shape may be provided on the ship bottom 2 to store the upper half of the sonar dome 10.

本発明の実施の形態に係るマルチビーム音響測深装置の動揺影響軽減装置を示す正面図である。It is a front view which shows the fluctuation influence reduction apparatus of the multi-beam acoustic sounding apparatus which concerns on embodiment of this invention. 図１のＡ−Ａ矢視断面図である。It is AA arrow sectional drawing of FIG. 図１のＢ−Ｂ矢視断面図である。It is BB arrow sectional drawing of FIG. 従来のソナーを備えた船舶の側面図である。It is a side view of the ship provided with the conventional sonar. 従来のソナードーム本体の底面図である。It is a bottom view of the conventional sonar dome main body. 従来の図５とは異なるソナードーム本体の底面図である。It is a bottom view of the sonar dome main body different from the conventional FIG. 従来のものにおけるマルチビームの送受信状況を説明する図である。It is a figure explaining the transmission / reception condition of the multi-beam in the conventional one.

符号の説明Explanation of symbols

１ 船舶
２ 船底
３Ｒ 右舷側姿勢制御シリンダ
３Ｌ 左舷側姿勢制御シリンダ
３Ａ 船尾側姿勢制御シリンダ
４ 主支持部材
５ ２方向軸受
６ カバー
７ 主支持装置昇降用シリンダ
８ 船底リセス
１０ ソナードーム
１１ マルチビーム発信器
１２ マルチビーム受信器
１３ 潮流検出器
１４ 音響速度検出器
１５ ドーム動揺検出器
１６ 船舶動揺検出器
２０ 動揺影響軽減制御装置
２１ マルチビーム音響測深装置本体
Ｂｔ 発信ビーム
Ｂｒ 反射ビーム
Ａ 海底
Ｗ 海面
４０ ソナードーム
４１ ソナー DESCRIPTION OF SYMBOLS 1 Ship 2 Ship bottom 3R Starboard side attitude control cylinder 3L Port side attitude control cylinder 3A Stern side attitude control cylinder 4 Main support member 5 Two-way bearing 6 Cover 7 Main support apparatus raising / lowering cylinder 8 Ship bottom recess 10 Sonar dome 11 Multi-beam transmitter DESCRIPTION OF SYMBOLS 12 Multi-beam receiver 13 Tidal current detector 14 Acoustic velocity detector 15 Dome motion detector 16 Ship motion detector 20 Shaking effect mitigation control device 21 Multi-beam acoustic sounding device main body Bt Transmitting beam Br Reflected beam A Submarine W Sea surface 40 Sonar dome 41 Sonar

Claims (4)

船舶の船底に配設されたソナードームに内蔵されたマルチビーム音響測深装置の動揺影響軽減装置において、前記船舶の船底から垂下され下端部が前記ソナードームに連結された主支持部材と、前記ソナードームの左右端部及び前後端部と前記船底とを連結する複数の姿勢制御シリンダと、前記船舶に設けられ前記船舶の動揺を検出する動揺検出器と、該動揺検出器からの検出信号に基づき前記複数の姿勢制御シリンダのストローク長を制御する動揺影響軽減制御装置とを備えたことを特徴とするマルチビーム音響測深装置の動揺影響軽減装置。   In a vibration effect mitigation device for a multi-beam acoustic sounding device built in a sonar dome disposed on the bottom of a ship, a main support member suspended from the bottom of the ship and having a lower end connected to the sonar dome, and the sonar Based on a plurality of attitude control cylinders connecting the left and right ends and front and rear ends of the dome and the ship bottom, a motion detector provided on the ship for detecting the motion of the ship, and a detection signal from the motion detector A fluctuation influence reducing device for a multi-beam acoustic sounding device, comprising: a fluctuation influence reduction control device for controlling a stroke length of the plurality of attitude control cylinders. 前記主支持部材は、前記船底に固定されていることを特徴とする請求項１に記載のマルチビーム音響測深装置の動揺影響軽減装置。   The apparatus according to claim 1, wherein the main support member is fixed to the ship bottom. 前記船底に船底リセスが設けられ、前記主支持部材は前記船底リセスに昇降自在に嵌め込まれていることを特徴とする請求項１に記載のマルチビーム音響測深装置の動揺影響軽減装置。   2. The apparatus according to claim 1, wherein a ship bottom recess is provided on the ship bottom, and the main support member is fitted in the ship bottom recess so as to be movable up and down. ソナードームと、前記ソナードーム内に前後方向に設けられたマルチビーム発信器及び左右方向に設けられたマルチビーム受信器と、前記ソナードーム内に設けられ前記ソナードーム内の動揺を検出する第２の動揺検出器と、該第２の動揺検出器からの検出信号に基づき前記マルチビーム受信器からの測深信号を補正するマルチビーム音響測深装置本体と、請求項１〜３のいずれかに記載のマルチビーム音響測深装置の動揺影響軽減装置とを備えたことを特徴とする海底探査船。   A sonar dome, a multi-beam transmitter provided in the front-rear direction and a multi-beam receiver provided in the left-right direction in the sonar dome, and a second detecting in the sonar dome provided in the sonar dome. The multi-beam acoustic sounding device main body that corrects the depth-measuring signal from the multi-beam receiver based on the detection signal from the second motion detector, and the motion detector according to claim 1. A submarine exploration ship provided with a vibration effect mitigation device for a multi-beam acoustic sounding device.
JP2005031712A 2005-02-08 2005-02-08 Apparatus for reducing effect of oscillation of multi-beam echo sounding device or ocean floor research vessel with same Withdrawn JP2006220436A (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101008880B1 (en) 2009-03-19 2011-01-17 마린리서치(주) Multi-beam echo sounder transducer securing device
JP2012150111A (en) * 2011-01-19 2012-08-09 Korea Inst Of Geoscience & Mineral Resources Boomer for sea elastic wave exploration
CN103482020A (en) * 2013-09-29 2014-01-01 武昌船舶重工有限责任公司 Multi-beam installation base and multi-beam installation method
KR101899293B1 (en) 2018-01-04 2018-09-17 (주)더모스트 Submarine topography exploration system outputing 3d-images of submarine topography
WO2018173148A1 (en) 2017-03-22 2018-09-27 株式会社ＡｑｕａＦｕｓｉｏｎ Echo sounding device and echo sounding method
CN109655836A (en) * 2018-12-17 2019-04-19 中科探海(苏州)海洋科技有限责任公司 A kind of high stability undersea detection sonar
CN115092318A (en) * 2022-08-24 2022-09-23 苏州海鱼电子科技有限责任公司 Shipborne sonar stabilizer
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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101008880B1 (en) 2009-03-19 2011-01-17 마린리서치(주) Multi-beam echo sounder transducer securing device
JP2012150111A (en) * 2011-01-19 2012-08-09 Korea Inst Of Geoscience & Mineral Resources Boomer for sea elastic wave exploration
CN103482020A (en) * 2013-09-29 2014-01-01 武昌船舶重工有限责任公司 Multi-beam installation base and multi-beam installation method
WO2018173148A1 (en) 2017-03-22 2018-09-27 株式会社ＡｑｕａＦｕｓｉｏｎ Echo sounding device and echo sounding method
KR101899293B1 (en) 2018-01-04 2018-09-17 (주)더모스트 Submarine topography exploration system outputing 3d-images of submarine topography
CN109655836A (en) * 2018-12-17 2019-04-19 中科探海(苏州)海洋科技有限责任公司 A kind of high stability undersea detection sonar
CN109655836B (en) * 2018-12-17 2024-03-22 中科探海(苏州)海洋科技有限责任公司 High stability is detection sonar under water
CN115092318A (en) * 2022-08-24 2022-09-23 苏州海鱼电子科技有限责任公司 Shipborne sonar stabilizer
CN115092318B (en) * 2022-08-24 2022-12-27 苏州海鱼电子科技有限责任公司 Shipborne sonar stabilizer
CN116750135A (en) * 2023-08-22 2023-09-15 江苏锦程船舶制造有限公司 Unmanned ship offshore submerged reef obstacle avoidance device and method

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