CN105937899A - Unmanned ship surveying and mapping system - Google Patents

Unmanned ship surveying and mapping system Download PDF

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Publication number
CN105937899A
CN105937899A CN201510653796.5A CN201510653796A CN105937899A CN 105937899 A CN105937899 A CN 105937899A CN 201510653796 A CN201510653796 A CN 201510653796A CN 105937899 A CN105937899 A CN 105937899A
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CN
China
Prior art keywords
unmanned
boundary
hull
reservoir
mapping system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201510653796.5A
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Chinese (zh)
Inventor
冯仲科
于景鑫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Forestry University
Original Assignee
Beijing Forestry University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Forestry University filed Critical Beijing Forestry University
Priority to CN201510653796.5A priority Critical patent/CN105937899A/en
Publication of CN105937899A publication Critical patent/CN105937899A/en
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C7/00—Tracing profiles
    • G01C7/02—Tracing profiles of land surfaces
    • G01C7/04—Tracing profiles of land surfaces involving a vehicle which moves along the profile to be traced
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/30—Assessment of water resources

Abstract

The invention provides an unmanned ship surveying and mapping system. The system is characterized by including a hull; the hull is provided with a central control board and an underwater surface terrain boundary measurement sensor; the upper surface of the front end of the hull is provided with a CCD camera, a GNSS system, a digital depthometer and an ultrasonic barrier measuring member; and the tail of the hull is provided with a propelling device, and the propelling device comprises a propeller with screw propellers. The unmanned measurement and control ship, a wireless remote control for remote control of the unmanned measurement and control ship, and a ground control station for remote control of the unmanned measurement and control ship are used for data transmission and data processing, so as to finally obtain the information of reservoir volume, underwater topography, and boundary.

Description

Unmanned boat mapping system
One, technical field
The present invention relates to the technical field of observing and controlling, particularly relate to unmanned observing and controlling ship and include the unmanned boat mapping system of this unmanned observing and controlling ship.
Two, technical background
In recent years, China's flood takes place frequently, and the safety of people's life and property in serious threat, also becomes the potential obstacle of social stability development simultaneously.Cause the reason of this phenomenon, in addition to closely bound up with Global climate change, also the inefficacy with Hu Ku these artificial or natural " flood actuators " has direct relation, and the main cause causing reservoir lake to regulate flood disabler is exactly the alluvial of silt.
At present, solve the primary premise of reservoir sedimentation problem, be that the underwater topography to reservoir carries out accurate measurement, set up complete underwater topography data base.Through investigation, current China only has large reservoir to establish the more complete underwater topography data base of ratio, and medium and small reservoirs is the most blank in this one side, and causes the reason of this phenomenon mainly to lack quick, the effective and measurement means of low cost.
For above-mentioned situation, the unmanned observing and controlling ship of the most employings, for measuring the underwater topography of Small Reservoir.Unmanned observing and controlling ship is driven by push structure, automatic moving on the water surface, completes the overall measurement to Small Reservoir, it can be seen that, push structure is directly connected to the effect of whole measurement process.
In prior art, the push structure of unmanned observing and controlling ship uses traditional propulsion plant, it uses fixing thrust power, then also need to the steering structure that configuration structure is complicated in unmanned observing and controlling ship, this steering structure includes turning to cabin+rudder face combination, unmanned observing and controlling ship could be realized on the water surface, carry out the movements such as turning, so, owing to structure is complicated, and it is arranged on hull interior, need to occupy the most of space in unmanned observing and controlling ship, the volume making unmanned observing and controlling ship is bigger, it is difficult to measure comprehensively, and installation process is complicated, energy consumption is high, caloric value is the biggest, and, need special configuration water cooling plant that it is cooled down, costly.
Three, summary of the invention
1. unmanned boat mapping system, it is characterized in that, including hull, be provided with central control board and water surface landform boundary survey sensor under water in described hull, the upper surface of described hull front end carry twin-lens CCD camera, can the GNSS system of difference, digital sounding instrument and attitude transducer (MEMS).
2. unmanned boat mapping system, it is characterized in that, serpentine-like every 10 meters of records once some position information including its travel route in reservoir of unmanned observing and controlling ship described in claim 1, including a positional information of position s (Xs, Ys, Zs), the depth of water and the attitude parameter (φ, ω, κ) of taking pictures, terrestrial landscape is taken pictures automatically, according to mathematical model 1. during every water precipice line boundary point
The spin matrix that wherein R is made up of φ, ω, the κ accessed by MEMS, f is focal length, and (u, v) is image space coordinate, by superposition image to solving (X, Y, the Z) object coordinates as upper any point, and then recovers reservoir boundary information.
3, unmanned boat mapping system, it is characterised in that include the unmanned observing and controlling ship described in claim 1-2, after the boundary information obtaining reservoir and underwater information, can draw reservoir boundary line figure and underwater topographic map.
Four, accompanying drawing explanation
The present invention is further described with example below in conjunction with the accompanying drawings.
Fig. 1 is unmanned boat mapping system mapping process schematic diagram
Five, detailed description of the invention:
This patent purpose is to provide unmanned observing and controlling ship, aim to solve the problem that the push structure of unmanned observing and controlling ship of the prior art needs the complex steering structure of configuration structure, cause that structure is complicated, trouble be installed, energy consumption is high, cost is high, and unmanned observing and controlling hull amass, be difficult to the problem comprehensively measured to underwater topography, border and storage capacity etc..
1. unmanned boat mapping system, it is characterized in that, including hull, be provided with central control board and water surface landform boundary survey sensor under water in described hull, the upper surface of described hull front end carry twin-lens CCD camera, can the GNSS system of difference, digital sounding instrument and attitude transducer (MEMS).
2. unmanned boat mapping system, it is characterized in that, serpentine-like every 10 meters of records once some position information including its travel route in reservoir of unmanned observing and controlling ship described in claim 1, including a positional information of position s (Xs, Ys, Zs), the depth of water and the attitude parameter (φ, ω, κ) of taking pictures, terrestrial landscape is taken pictures automatically, according to mathematical model 1. during every water precipice line boundary point
The spin matrix that wherein R is made up of φ, ω, the κ accessed by MEMS, f is focal length, and (u, v) is image space coordinate, by superposition image to solving (X, Y, the Z) object coordinates as upper any point, and then recovers reservoir boundary information.
3, unmanned boat mapping system, it is characterised in that include the unmanned observing and controlling ship described in claim 1-2, after the boundary information obtaining reservoir and underwater information, can draw reservoir boundary line figure and underwater topographic map.

Claims (3)

1. unmanned boat mapping system, it is characterised in that include hull, be provided with in described hull central control board and under water the water surface ground Shape boundary survey sensor, the upper surface of described hull front end carry twin-lens CCD camera, can difference GNSS system, Digital sounding instrument and attitude transducer (MEMS).
2. unmanned boat mapping system, it is characterised in that include its traveling road in reservoir of the unmanned observing and controlling ship described in claim 1 Line is serpentine-like every 10 meters of records once some position information, including a positional information of position s (Xs, Ys, Zs) of taking pictures, the depth of water and Attitude parameter (φ, ω, κ), takes pictures to terrestrial landscape, according to mathematical model 1. during every water precipice line boundary point automatically
X y Z = X s y s Z s + R . u f υ ,
The spin matrix that wherein R is made up of φ, ω, the κ accessed by MEMS, f is focal length, and (u is v) that image space is sat Mark, by superposition image to solving (X, Y, the Z) object coordinates as upper any point, and then recovers reservoir boundary information.
3. unmanned boat mapping system, it is characterised in that include the unmanned observing and controlling ship described in claim 1-2, is obtaining reservoir After boundary information and underwater information, reservoir boundary line figure and underwater topographic map can be drawn.
CN201510653796.5A 2015-10-12 2015-10-12 Unmanned ship surveying and mapping system Pending CN105937899A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510653796.5A CN105937899A (en) 2015-10-12 2015-10-12 Unmanned ship surveying and mapping system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510653796.5A CN105937899A (en) 2015-10-12 2015-10-12 Unmanned ship surveying and mapping system

Publications (1)

Publication Number Publication Date
CN105937899A true CN105937899A (en) 2016-09-14

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Country Status (1)

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CN (1) CN105937899A (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107167099A (en) * 2017-05-09 2017-09-15 广东容祺智能科技有限公司 A kind of reservoir capacity monitoring method based on amphibious unmanned plane Yu sound wave Bathymetric Technology
CN107367735A (en) * 2017-07-10 2017-11-21 四川昇赛尔科技有限公司 A kind of in-service oil-gas pipeline River Crossing section electromagnetic sound wave detection method
CN107499486A (en) * 2017-07-28 2017-12-22 安徽工程大学 Mobile platform and its localization method on a kind of positioning intelligent water
CN108287538A (en) * 2017-01-10 2018-07-17 上海华测导航技术股份有限公司 One kind being based on the unmanned boat system of RTK technologies
CN108827252A (en) * 2018-04-19 2018-11-16 深圳鳍源科技有限公司 Draw method, apparatus, equipment, system and the storage medium of underwater live-action map
CN109212535A (en) * 2018-10-30 2019-01-15 环境保护部华南环境科学研究所 A kind of full topographical scan method in river based on unmanned boat
CN111806632A (en) * 2020-06-11 2020-10-23 安徽二水测绘院 Measuring ship for underwater topography mapping

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108287538A (en) * 2017-01-10 2018-07-17 上海华测导航技术股份有限公司 One kind being based on the unmanned boat system of RTK technologies
CN107167099A (en) * 2017-05-09 2017-09-15 广东容祺智能科技有限公司 A kind of reservoir capacity monitoring method based on amphibious unmanned plane Yu sound wave Bathymetric Technology
CN107367735A (en) * 2017-07-10 2017-11-21 四川昇赛尔科技有限公司 A kind of in-service oil-gas pipeline River Crossing section electromagnetic sound wave detection method
CN107499486A (en) * 2017-07-28 2017-12-22 安徽工程大学 Mobile platform and its localization method on a kind of positioning intelligent water
CN107499486B (en) * 2017-07-28 2023-05-30 安徽工程大学 Intelligent water moving platform for positioning and positioning method thereof
CN108827252A (en) * 2018-04-19 2018-11-16 深圳鳍源科技有限公司 Draw method, apparatus, equipment, system and the storage medium of underwater live-action map
CN109212535A (en) * 2018-10-30 2019-01-15 环境保护部华南环境科学研究所 A kind of full topographical scan method in river based on unmanned boat
CN109212535B (en) * 2018-10-30 2021-06-25 环境保护部华南环境科学研究所 Unmanned ship-based river channel all-terrain scanning method
CN111806632A (en) * 2020-06-11 2020-10-23 安徽二水测绘院 Measuring ship for underwater topography mapping

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Application publication date: 20160914