Amphibious detection device and method for measuring morphology of underground ultra-deep horizontal karst cave

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Amphibious detection device and method for measuring morphology of underground ultra-deep horizontal karst cave

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LIANG WEIGUO / ZHANG SHENGLI / SUN YUSHAN / XIAO NING / LI JING / ZHAO DESHENG / LI CHAO

The invention discloses an amphibious detection device and method for measuring the morphology of an underground ultra-deep horizontal karst cave. The device is mainly composed of a cabin, a propelling system, a power system, a detection system, a comprehensive control system, a navigation positioning system, a ground monitoring system, a communication system and the like. The propelling system comprises a stern spiral propeller, a bow vector propeller, a vertical propeller and a lateral propeller, it can be guaranteed that the detection device stably and freely moves in water, and it can also be guaranteed that the device normally walks in sediment. Besides, the device utilizes a navigation device of the device to feed back the position in real time and combines the inner diameter and boundary information of the karst cave obtained by sonar to quickly and accurately reconstruct the three-dimensional form of the karst cave, and utilizes an underwater searchlight and a camera to carry out real-time video observation and recording on the concerned position. The device has intuitive guiding significance on the morphological characteristics, the pipe blockage mechanism and the insoluble substance deposition rule of the horizontal karst cave.

本发明公开了一种测量地下超深水平溶洞形貌的两栖探测装置及方法，该装置主要由舱体、推进系统、动力系统、探测系统、综合控制系统、导航定位系统、地面监控系统、通信系统等组成。本发明的推进系统包括艉部螺旋推进器、艏部矢量推进器、垂直推进器和侧向推进器，不仅可以保证探测装置在水中的平稳自由移动，还可以保证装置在沉渣中正常行走。另外，该装置利用自身的导航装置实时反馈位置，结合声呐得到的溶洞内径与边界信息，能够快速精确地重构溶洞的三维形态，并利用水下探照灯和摄像头对关心位置实时视频观察和记录，对水平溶洞的形貌特征、管堵机理以及不溶物沉积规律有直观的指导意义。

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Title :

Amphibious detection device and method for measuring morphology of underground ultra-deep horizontal karst cave

Additional title:

一种测量地下超深水平溶洞形貌的两栖探测装置及方法

Contributors:

LIANG WEIGUO (author) / ZHANG SHENGLI (author) / SUN YUSHAN (author) / XIAO NING (author) / LI JING (author) / ZHAO DESHENG (author) / LI CHAO (author)

Publication date :

2021-12-31

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese

Classification :

IPC:

G01S RADIO DIRECTION-FINDING , Funkpeilung / B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen