Application of scanning sonar using multi - legged underwater robot's degree of freedom

Abstract

Generally scanning sonar can be used with ROV or other equipments. When scanning sonar is operated independently of a ROV, it is most often deployed in a stationary tripod, cage or frame, or pole-mounted to survey the seafloor, port wall, and scour at bottom of the bridge. It could offer high accuracy of image position, in comparison with side scan sonar. However, In high current and shallow water, it was too hard to acquire precise images with these kinds of fixture including gimble so far. When scanning sonar is operated with a universal ROV, it is difficult to survey in strong current water. A scanning sonar attached CR200 can be operated in strong current water because CR200 is designed to overcome this. One of its most advantage is possibility of the variable application with scanning sonar and ultra sound camera because of ability to keep stable posture during the surveying and offer degree of freedom. ？ 2015 MTS.