MOVABLE UNDERWATER CARRIER EQUIPPED WITH A SYSTEM OF HORIZONTAL ANGULAR STABILIZATION RELATIVE TO VERTICAL PLANE HYDRAULIC STRUCTURES Russian patent published in 2020 - IPC G01S15/00 

FIELD: ocean engineering.

SUBSTANCE: invention relates to underwater equipment used for maintenance and periodic inspection of surfaces of underwater part of hydraulic engineering infrastructure. Mobile underwater carrier is provided, equipped with a system of horizontal angular positioning relative to vertical plane hydraulic structures, comprising a sealed housing, movably connected to cable intended for its movement and through sealed joint with cable rope, intended for information transfer. In the sealed housing cavity there is a propulsor control unit, a storage battery connected to the input of the propulsor control unit, and a unit for determining the current orientation. Besides, on the outer shell of the sealed housing there is a coordinated pair of horizontal propellers, for horizontal movement of the movable underwater carrier and vertical propulsor for its vertical movement. In cavity of sealed housing with outlet to its outer shell there are also two echo sounders arranged at angle of 60-120 degrees relative to each other, besides, axes of directional characteristic of each echo sounder are located at angle of 30-60 degrees to axis of view of movable underwater carrier. Cable rope is electrically connected to input and output of propeller control unit, which in its turn is connected to input and output of current orientation determination unit, with inputs of two horizontal propellers and input of vertical propeller, and current orientation determination unit is connected to echo sounders inputs and outputs.

EFFECT: technical result of claimed invention consists in increase in accuracy of angular positioning of axis of view of movable underwater carrier and more accurate attachment of observed sonar images to required coordinate system associated with said hydraulic structure.

1 cl, 3 dwg