JPH0651060A - Underwater ground shape measuring device - Google Patents

Abstract

PURPOSE:To measure the water bottom ground shape precisely and quickly. CONSTITUTION:A servo control mechanism 12 with the base controlled by an X-axis and Y-axis inclination sensor so as to be directed always in the Z-axis direction is installed at the bottom of a float 10 while facing the water bottom. An ultrasonic wave depth measuring means 32 is mounted on this float 10, and a transmitter/receiver 42 for the ultrasonic waves is installed with the Z-axis direction directed to the base. A plane position measuring means 34 is furnished to measure the plane position of the float 10. The ultrasonic measuring means 32 and plane position measuring means 34 are operated synchronously, and the water depth data obtained by the means 32 and the plane position data obtained by the means 34 are subjected to processing by one central calculating means 46. Thus the ground shape at the water bottom is measured.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a water bottom topography surveying device capable of accurately measuring a water depth and a plane position and accurately and quickly obtaining the water bottom topography from both of these data. is there.

[0002]

2. Description of the Related Art A conventional method for measuring the topography of a water bottom is to mount an ultrasonic sounding machine on a small ship floating on the water surface to measure the water depth, and to measure the plane position of this small ship using a surveying machine such as a transit. Measure from land. Then, the water depth data and the plane position data were overlapped to obtain the water bottom topography.

[0003]

In an ultrasonic sounding machine mounted on a small ship floating on the water surface, ultrasonic waves are directed toward the bottom of the water as the ship sways due to the influence of wind and waves. The transmitter / receiver for receiving the ultrasonic waves reflected by the bottom of the water as it is emitted also shakes and shifts from the Z-axis direction, and the vertical distance to the bottom of the water cannot necessarily be measured.

Further, in order to measure the plane position of a small ship, a professional engineer who can handle transits is required,
Moreover, it takes a considerable amount of work time to measure the plane position. Therefore, the time when the water depth is measured does not always coincide with the time when the plane position is measured, and the processing of the data for determining the water bottom topography is complicated and requires a lot of processing time. I can't.

Therefore, it is difficult for the above-mentioned conventional techniques to measure in real time the water bottom topography that is constantly changing due to dredging work such as dredging work.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a water bottom topography surveying device capable of accurately and quickly measuring the water bottom topography.

[0007]

In order to achieve the above object, in the water bottom topographic survey apparatus of the present invention, the X-axis tilt sensor and the Y-axis tilt sensor detect tilts and the base is always oriented in the Z-axis direction. The servo control mechanism controlled as described above is disposed so as to face the bottom of the water to a floating body that can move on the water surface, and Z is attached to the base.
Ultrasonic sounding means including a transducer arranged in the axial direction is provided on the floating body, and plane position measuring means for measuring the plane position of the floating body is provided, and the ultrasonic sounding means outputs the result. The water depth data and the plane position data output from the plane position measuring means are arithmetically processed by one central arithmetic means to obtain the water bottom topography.

[0008]

[Operation] Since the transducer of the ultrasonic sounding means is always oriented in the Z-axis direction by the servo control mechanism, ultrasonic waves for sounding can be emitted vertically toward the water bottom,
The water depth is measured accurately. Since the water depth data output from the ultrasonic sounding means and the plane position data output from the plane position measuring means are both transmitted and processed by one central processing means, the water bottom topography can be quickly obtained from both data. .

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the present invention will be described below with reference to FIGS.
Will be described with reference to. FIG. 1 is a block configuration diagram of an embodiment of the water bottom topographic survey device of the present invention, and FIG. 2 is an external perspective view of an example of the servo control mechanism of FIG.

In FIGS. 1 and 2, a floating body 10 such as a small ship operated by a person on board or operated by an unmanned ship or the like, which can be arbitrarily moved on the water surface by remote control etc. Can be floated. A servo control mechanism 12 is disposed on the bottom of the floating body 10 so as to face the water bottom and is covered with an appropriate watertight cover (not shown). An example of the servo control mechanism 12 is, as shown in FIG.
The first frame 14 fixed to the first frame 14 is provided with a second frame 16 that can swing about the X axis, and the second frame 16 is provided with a base 18 that can swing about the Y axis. To be An X-axis tilt sensor 20 and a Y-axis tilt sensor 22 are provided on the base 18, and the attitudes of the second frame body 16 around the X-axis are controlled by the first servomotor 24 by the outputs of these sensors. The attitude of the base 18 around the Y axis is controlled by the second servomotor, and thus the base 18 is controlled so as to always face in the Z axis direction.

Further, a vertical cylinder 28 is provided on the base 18 in the Z-axis direction, and an ultrasonic wave is emitted toward the water bottom in the vertical cylinder 28 and the ultrasonic wave reflected by the water bottom is received. A transceiver 30 is provided. Then, the ultrasonic sounding device 32 including the transducer 30 is mounted on the floating body 10. The ultrasonic sounding means 32 wirelessly transmits the measured water depth data of the water depth D from the antenna 32 to the antenna 48 of the onshore facility.

The floating body 10 has a plane position measuring means 3
4 signal generators 36 are mounted. The signal generating unit 36 transmits a trigger signal from the antenna 38 to the antenna 40 of the plane position measuring unit 34 of the land-based device, for example, in a cycle of 1 second. At the same time, the ultrasonic wave transmitter 42 provided at the bottom of the floating body 10 emits ultrasonic waves toward the two ultrasonic wave receivers 44 and 46 of the land apparatus. The two ultrasonic wave receivers 44 and 46 are installed below the water surface with a distance L. Further, the signal generator 36 simultaneously gives an activation pulse to the ultrasonic sounding means 32 to perform sounding operation.

The plane position measuring means 34 respectively measures the time from the reception of the trigger signal to the reception of ultrasonic waves by the two ultrasonic wave receivers 44 and 46. The transmission time of the trigger signal wirelessly transmitted is so small that it can be ignored as compared with the transmission time of ultrasonic waves transmitted in water. Therefore,
Ultrasonic transmission speed in water and two ultrasonic receivers 4
Since the positions of the planes 4, 4 are known, the plane position of the floating body 10 can be calculated. The plane position data calculated by the plane position measuring means 34 is stored in the central processing unit 46.
Given to. Further, water depth data measured from the transmission time from the emission of ultrasonic waves by the ultrasonic sounding means 32 to the reception of the reflected wave reflected on the bottom of the water is wirelessly transmitted from the antenna 32 to the antenna 48, and the central processing unit 46. Given to. Therefore, the central processing means 46 appropriately finds the water bottom topography from the plane position data and water depth data measured at the same time, displays the figure on a CRT or the like (not shown), and stores the data in the memory or the like.

In such a structure, when the trigger signal is periodically transmitted from the antenna 38 by the operation of the signal generator 36, the plane position measuring means 34 measures the plane position of the floating body 10, and at the same time, the ultrasonic sounding is performed. The means 32 measures the water depth D and wirelessly transmits this water depth data from the antenna 32. In this water depth measurement, the vertical cylinder 28 is always maintained in the Z-axis direction by the servo control mechanism 12 regardless of the posture of the floating body 10, and the accurate water depth D is measured. Therefore, the central processing unit 46 can accurately and promptly measure the water bottom topography from the plane position data and the water depth data measured at the same time.

In the above embodiment, the plane position measurement is performed by using the ultrasonic wave transmitter 42 arranged on the floating body 10 and the ultrasonic wave receivers 44 and 46 arranged at two distances. However, the present invention is not limited to this, and a GPS receiver that receives radio waves from GPS satellites and calculates the plane position may be used. Further, although the one in which the trigger signal is transmitted from the signal generation unit 36 to the land device is shown in the embodiment, the trigger signal is transmitted from the land device and the ultrasonic wave is emitted from the ultrasonic wave transmitter 42 based on this. It may be one.

The plane position measurement and the water depth measurement may be performed in synchronism with each other, and the activation pulse output from the ultrasonic measurement means 32 may be applied to the signal generator 36 to activate the operation. Further, the ultrasonic sounding means 32 may be operated together with the signal generator 36 by a trigger signal from the land-based device. Furthermore, it goes without saying that the water depth data obtained by the ultrasonic sounding means 32 is not limited to wireless transmission but may be transmitted by wire.

[0017]

As described above, since the water bottom topographic survey apparatus of the present invention is constructed, the following special effects are obtained.

Even if the floating body moving on the surface of the water shakes due to the influence of waves or wind, the operation of the servo control mechanism allows the ultrasonic wave to be constantly emitted vertically from the transducer to the bottom of the water. The water depth can be measured. Then, the water depth data and plane position data accurately measured in this way are
Since it is processed by two central processing means, water bottom topography is required promptly. Therefore, even in the case of dredging work, etc. where the water bottom topography changes from moment to moment, the current water bottom topography can be easily grasped, and the work can be performed accurately and efficiently.
It is extremely useful in practice.

[Brief description of drawings]

FIG. 1 is a block configuration diagram of an embodiment of a water bottom topographic survey device of the present invention.

FIG. 2 is an external perspective view of an example of the servo control mechanism of FIG.

[Explanation of symbols]

 10 Floating Body 12 Servo Control Mechanism 18 Base 20 X-axis Inclination Sensor 22 Y-axis Inclination Sensor 30 Transducer 32 Ultrasonic Sounding Means 34 Planar Position Measuring Means 46 Central Computing Means

Claims (1)

[Claims] 1. A servo control mechanism in which tilt is detected by an X-axis tilt sensor and a Y-axis tilt sensor so that the base is always oriented in the Z-axis direction so that a floating body movable on the water surface faces the bottom of the water. And the ultrasonic probe is provided on the base in the Z-axis direction.
Further, plane position measuring means for measuring the plane position of the floating body is provided, and the water depth data output from the ultrasonic sounding means and the plane position data output from the plane position measuring means are calculated by one central processing means. A bottom terrain surveying device, characterized in that it is configured to process the bottom topography.