CN106167076B - Unmanned measurement investigation platform waterborne for data acquisition difficulty waters - Google Patents
Unmanned measurement investigation platform waterborne for data acquisition difficulty waters Download PDFInfo
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- CN106167076B CN106167076B CN201610808647.6A CN201610808647A CN106167076B CN 106167076 B CN106167076 B CN 106167076B CN 201610808647 A CN201610808647 A CN 201610808647A CN 106167076 B CN106167076 B CN 106167076B
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- measurement
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- itself
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- data acquisition
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- 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
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The present invention provides a kind of unmanned measurement investigation platform waterborne for data acquisition difficulty waters, comprising: be placed in water moveable hull platform, including hull itself and the dynamical system for pushing hull itself to move, dynamical system includes engine and the hydraulic jet for controlling course, is additionally provided with the hull controller for controlling the dynamical system with hull sheet；Case is measured, is detachably arranged in hull sheet, measurement data memory is equipped in the measurement case；For measuring the sounding instrument of water surface depth, it is embedded in the bottom of described hull itself, and the sounding instrument integrates sonic sensor and light wave sensor, sounding instrument is connected by communication with the measurement data memory.The present invention solves the problems, such as the data acquisition in data acquisition difficulty waters, improves measurement efficiency, and enter in water without personnel, improves the safety of measurement.
Description
Technical field
The present invention relates to aquatic measurement technical fields, more particularly to a kind of nothing waterborne for data acquisition difficulty waters
People measures investigation platform.
Background technique
At this stage, the investigation work waterborne such as ocean and lake is mainly carried out using routine work ship, in factual survey work
In work, routine work ship working efficiency, safety, in terms of there is many limitations and deficiency, give
Investigation work waterborne brings inconvenience, has not been able to satisfy current operation at sea (especially oceanographic survey work) gradually
It needs.
In offshore field investigation work waterborne, it is mostly to employ some fishing boats etc. small that the factor for cost etc., which considers,
Type ship works, (shabby, be short of power), coastal waters barrier and by fluctuation tide because of workboat oneself factor
It influences, under causing measurement efficiency very low, increases measurement cost.Moreover, marine weather condition changes unpredictably, and some small fishing
Ship ship's speed is slow, and capacity of anti-storm is poor, them is employed to measure work, and security risk is very big, and operation on the sea occurs dangerous
Situation happens occasionally, also, the region of heavy traffic at sea, and the ship of dealing also constitutes very big threat to the safety of fishing boat.
In addition, in normal measurement process, be frequently run onto because of water barrier factor (such as: shallow water reef area, fishing net area, shoal
Area and contain dangerous object area) cause general measure ship cannot be introduced into survey area's work, prevent water-depth measurement is from just normally opened at this
Exhibition, affects job schedule and construction quality.Sometimes even staff's Portable device is needed to enter and measures work in water,
Personnel and equipment are absolutely unsafe, under efficiency is very low.
Platform is investigated for unmanned measurement waterborne therefore, it is necessary to a kind of, completion aquatic measurement that can be efficient and safe, and
Enter in water without personnel.
Summary of the invention
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of for unmanned measurement waterborne
Platform is investigated, for solving the problems, such as that aquatic measurement low efficiency, safety are low in the prior art.
In order to achieve the above objects and other related objects, the present invention provides a kind of for the waterborne of data acquisition difficulty waters
Unmanned measurement investigation platform comprising:
It is placed in water moveable hull platform, including hull itself and pushes the dynamical system that moves of hull itself,
Dynamical system includes engine and the hydraulic jet for controlling course, and the control dynamical system is additionally provided with hull sheet
Hull controller；
Case is measured, is detachably arranged in hull sheet, multiple measuring devices, measurement data are equipped in the measurement case
Memory and the communication unit communicated with the external world, a kind of corresponding parameter number for obtaining waters to be investigated of each measuring device
According to all measuring devices are connected with the measurement data memory, and the measurement data memory is connected with communication unit；
For measuring the sounding instrument of water surface depth, it is embedded in the bottom of described hull itself, and the sounding instrument collection sound wave
In one, sounding instrument is connected by communication with the depth measuring devices in the multiple measuring device for sensor and light wave sensor.
Preferably, the hull controller is built-in with the double control system for controlling the power system operation, one of them
Control system is the automatic control system based on pid algorithm, another control system is the real-time monitoring system of personnel's intervention, institute
It states and is equipped with communication antenna with hull sheet, the hull controller is communicated by communication antenna and remote equipment, is realized and is adjusted in real time
The calling and implementation of control system.
Preferably, the locator that can position hull position itself is additionally provided with the hull sheet.
Preferably, the engine is four-stroke gasoline engine.
Preferably, the bottom of described hull itself is equipped with multiple mounting holes, and the sounding instrument is plugged in by inserting pedestal fastly
In one of them described mounting hole.
Preferably, there is the groove of installation sealing ring in the mounting hole.
Preferably, thermometer and the measurement mesohaline salimity measurement of water of measurement water temperature are additionally provided with the hull sheet
Instrument, the thermometer are connected by communication with the temperature measurement equipment in the multiple measuring device, the salimity measurement instrument with it is described
Salimity measurement device talk in multiple measuring devices is connected.
Preferably, the measurement case is located in the center of gravity of the hull platform.
As described above, the unmanned measurement investigation platform waterborne for data acquisition difficulty waters of the invention, has following
The utility model has the advantages that using unpiloted hull platform as carrier, interior will be equipped with multiple measuring devices, measurement data memory with
And the measurement case of the communication unit communicated with the external world is mounted on hull sheet, by required various sensor (such as depth measurements
Instrument) it is mounted on hull sheet, when measurement, only need to be such that hull itself runs to water area to be measured, measurement efficiency is improved,
And enter in water without personnel, improve the safety of measurement；It is detachable to measure case, is readily transported, and convenient for hull itself
Setting.
Detailed description of the invention
Fig. 1 is shown as the schematic diagram of the unmanned measurement investigation platform waterborne for data acquisition difficulty waters of the invention.
Fig. 2 is shown as the installation diagram of sounding instrument of the invention.
Component label instructions
1 hull itself
2 locators
3 measurement casees
4 batteries
5 hull controllers
6 communication antennas
7 hydraulic jets
8 sounding instruments
9 insert pedestal fastly
10 sealing rings
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book is understood other advantages and efficacy of the present invention easily.
Fig. 1 is please referred to Fig. 2.It should be clear that structure, ratio, size etc. depicted in this specification institute attached drawing, only to
Cooperate the revealed content of specification, so that those skilled in the art understands and reads, being not intended to limit the invention can be real
The qualifications applied, therefore do not have technical essential meaning, the tune of the modification of any structure, the change of proportionate relationship or size
It is whole, in the case where not influencing the effect of present invention can be generated and the purpose that can reach, it should all still fall in disclosed skill
In the range of art content can cover.Meanwhile in this specification it is cited as "upper", "lower", "left", "right", " centre " and
The term of " one " etc. is merely convenient to being illustrated for narration, rather than to limit the scope of the invention, relativeness
It is altered or modified, under the content of no substantial changes in technology, when being also considered as the enforceable scope of the present invention.
As shown in Figure 1, the present invention provides a kind of unmanned measurement investigation platform waterborne for data acquisition difficulty waters,
Include:
It is placed in water moveable hull platform, including hull itself 1 and pushes the dynamical system that moves of hull itself,
Dynamical system includes engine and the hydraulic jet 7 for controlling course, and the control dynamical system is additionally provided on hull itself 1
The hull controller 5 of system；
Case 3 is measured, is detachably arranged on hull itself 1, is equipped with and is obtained in waters to be investigated respectively in the measurement case 3
The multiple measuring devices and measurement data memory of parameter and the communication unit communicated with the external world, all measuring devices
It is connected with the measurement data memory, the measurement data memory is connected with communication unit；
For measuring the sounding instrument 8 of water surface depth, it is embedded in the bottom of described hull 1 itself, and 8 collection sound of the sounding instrument
In one, sounding instrument 8 is connected by communication with the depth measuring devices in multiple measuring devices for wave sensor and light wave sensor.
The present invention using unpiloted hull platform be used as carrier, and hull itself 1 be monohull, be it is small-sized, eat
The shallow hull of water is convenient in the data acquisitions difficulty water-area navigation such as Very Shallow Water domain, reef area, islands and reefs, water front, culture zone, and
Interior be equipped with is obtained the measurement case of the accordingly measuring device of each parameter in waters to be investigated and be mounted on hull sheet, it will be required
Each sensor (such as sounding instrument) is mounted on hull sheet, and each sensor is connected by communication with corresponding measuring device, when measurement only
Hull itself need to be made to run to water area to be measured, measurement efficiency is improved, and enter in water without personnel, improve measurement
Safety；It is detachable to measure case, is readily transported, and convenient for the setting of hull itself；And above-mentioned sounding instrument collection sound wave sensing
In one, light wave sensor measurable range is 0-5 meters for device and light wave sensor, and sonic sensor measurable range is 0.5-
100 meters, therefore the sounding instrument covers 0-100 meters of water-depth measurement range, as long as the place that hull platform can reach all may be used
To carry out depth measurement.
The present invention concentrates on each measuring device for being used to complete DATA REASONING in measurement case, and measurement case is closed case,
And have the function of to discharge water, the protection to each element is played, such as the depth measuring devices of above-mentioned acquisition Larger water depths, obtains waters salt
The salimity measurement equipment and measurement data memory of degree, concentrate in above-mentioned measurement case.Since hull is monohull, body
Type is small, therefore the present invention is independently arranged case is measured, and installs itself and hull itself detachably, convenient for matching for hull platform
Measurement case 3 is mounted in the center of gravity of hull platform by weight, this will greatly simplify counterweight balancing work, or even increase and decrease is set
It is standby also little to the counterweight balance influence of ship.For the installation convenient for measuring case, cabinet can be set in the upper surface of hull itself
Groove, convenient for measuring the location and installation of case.
Above-mentioned engine is the four-stroke gasoline engine with electronic striking system, ensure that the power of hull platform fills
Foot, stable conditions.
Above-mentioned hull controller 5 is built-in with the double control system of control power system operation, and one of control system is
Automatic control system based on pid algorithm, another control system is the real-time monitoring system of personnel's intervention, on hull itself 1
Equipped with communication antenna 6, the hull controller 5 is communicated by communication antenna 6 and remote equipment, realizes the tune of real-time monitoring system
With and implement.Above-mentioned hull controller 5 is connected with the battery 4 being embedded in hull itself.
Aquatic measurement operation actual conditions are different, when the better simply a wide range of aquatic measurement operation of progress landform, are based on
The automatic control system of pid algorithm can be very good to complete measurement work, however waterborne when carrying out the more complex small range of landform
When measuring operation (islands and reefs, shoal, pond etc.), the real-time and accuracy of automatic control system can not be competent, it is necessary to
Real-time control is carried out by personnel's intervention.Therefore, above-mentioned hull controller 5 has done double control system design, can remotely set
It is switched at any time on standby monitoring software.It is under various sea situations experiments have shown that, the design of this double control system increases
The strong adaptability of unmanned boat, achieves good practical effect.
The required precision of aquatic measurement operation is higher, therefore the Design Orientation precision of the automatic control system is sub-meter grade,
Needing to equip beacon Differential positioning equipment, the present invention is equipped with the locator 2 that can position hull position itself on hull itself 1,
The locator 2 of the present embodiment is DGPS Receiver.
To meet measurement, the thermometer and the measurement mesohaline salt of water of measurement water temperature are additionally provided on above-mentioned hull itself 1
Measuring instrument is spent, temperature measurement equipment and salimity measurement equipment are equipped in above-mentioned measurement case, the thermometer is set with temperature measurement
Standby to be connected by communication, salimity measurement instrument is connected with salimity measurement device talk.
For convenient for quickly disassembling and installing above-mentioned each measuring instrument, the bottom of hull 1 itself is equipped with multiple mounting holes, sounding instrument
8 are plugged in one of mounting hole by inserting pedestal 9 fastly.As shown in Figure 2, the bottom of hull 1 itself has mounting hole, fast to insert
Pedestal 9 is the hole with accommodating sounding instrument or other measuring instruments, and keeps the gauge head end of sounding instrument exposed, fastly slotting pedestal and hull sheet
There is sealing ring 10 between body, be embedded sealing ring in the groove in mounting hole.The outer diameter of fast slotting pedestal 9 and the internal diameter of mounting hole
Adaptation, plays tight fit.Its inner hole can be arranged according to the shape of sounding instrument or other measuring instruments in slotting pedestal 9 fastly, convenient for various
The installation of measuring device.
In conclusion of the invention investigates platform for unmanned measurement waterborne, made using unpiloted hull platform
For carrier, the interior measurement case equipped with measurement data memory and the hull controller for controlling the dynamical system is mounted on hull
With this, required measuring instrument (such as sounding instrument) is mounted on hull sheet, when measurement need to only make hull itself run to
Water area to be measured improves measurement efficiency, and enters in water without personnel, improves the safety of measurement.So the present invention
It effectively overcomes various shortcoming in the prior art and has high industrial utilization value.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (6)
1. a kind of unmanned measurement investigation platform waterborne for data acquisition difficulty waters characterized by comprising
It is placed in water moveable hull platform, including hull itself (1) and the dynamical system for pushing hull itself to move, is moved
Force system includes engine and the hydraulic jet (7) for controlling course, and the control power is additionally provided on hull itself (1)
The hull controller (5) of system；
It measures case (3), is detachably arranged on hull itself (1), multiple measuring devices, survey are equipped in the measurement case (3)
Amount data storage and the communication unit communicated with the external world, the corresponding one kind for obtaining waters to be investigated of each measuring device
Supplemental characteristic, all measuring devices are connected with the measurement data memory, the measurement data memory and communication unit phase
Even；
For measuring the sounding instrument (8) of water surface depth, it is embedded in the bottom of described hull (1) itself, and the sounding instrument (8) collects
The depth measuring devices communication of sonic sensor and light wave sensor in one, sounding instrument (8) and the multiple measuring device
It is connected；The bottom of described hull (1) itself is equipped with multiple mounting holes, and the sounding instrument (8) is plugged in it by inserting pedestal (9) fastly
In in a mounting hole；And measurement case (3) is located in the center of gravity of the hull platform.
2. the unmanned measurement investigation platform waterborne according to claim 1 for data acquisition difficulty waters, feature exist
The double control system for controlling the power system operation is built-in in: the hull controller (5), one of control system is
Automatic control system based on pid algorithm, another control system are the real-time monitoring system of personnel's intervention, described hull itself
(1) communication antenna (6) are equipped with, the hull controller (5) is communicated by communication antenna (6) and remote equipment, is realized real-time
The calling and implementation of regulator control system.
3. the unmanned measurement investigation platform waterborne according to claim 1 for data acquisition difficulty waters, feature exist
In: the locator (2) that can position hull position itself is additionally provided on described hull itself (1).
4. the unmanned measurement investigation platform waterborne according to claim 1 for data acquisition difficulty waters, feature exist
In: the engine is four-stroke gasoline engine.
5. the unmanned measurement investigation platform waterborne according to claim 1 for data acquisition difficulty waters, feature exist
In: there is the groove of installation sealing ring in the mounting hole.
6. the unmanned measurement investigation platform waterborne according to claim 1 for data acquisition difficulty waters, feature exist
In: the thermometer and the measurement mesohaline salimity measurement instrument of water of measurement water temperature, the temperature are additionally provided on described hull itself (1)
Degree instrument is connected by communication with the temperature measurement equipment in the multiple measuring device, and the salimity measurement instrument is set with the multiple measurement
Salimity measurement device talk in standby is connected.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610808647.6A CN106167076B (en) | 2016-09-07 | 2016-09-07 | Unmanned measurement investigation platform waterborne for data acquisition difficulty waters |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610808647.6A CN106167076B (en) | 2016-09-07 | 2016-09-07 | Unmanned measurement investigation platform waterborne for data acquisition difficulty waters |
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| CN106167076A CN106167076A (en) | 2016-11-30 |
| CN106167076B true CN106167076B (en) | 2019-04-16 |
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| CN201610808647.6A Expired - Fee Related CN106167076B (en) | 2016-09-07 | 2016-09-07 | Unmanned measurement investigation platform waterborne for data acquisition difficulty waters |
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| CN107264732A (en) * | 2017-06-24 | 2017-10-20 | 张家淦 | A kind of intelligent new energy unmanned boat |
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