CN107089105B - A kind of root stone detection system - Google Patents
A kind of root stone detection system Download PDFInfo
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- CN107089105B CN107089105B CN201710271287.5A CN201710271287A CN107089105B CN 107089105 B CN107089105 B CN 107089105B CN 201710271287 A CN201710271287 A CN 201710271287A CN 107089105 B CN107089105 B CN 107089105B
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- chassis
- carrier platform
- driving wheel
- control system
- striker
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/003—Parts or details of the vehicle structure; vehicle arrangements not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Abstract
The invention discloses a kind of root stone detection systems, including carrier platform, carrier platform includes dynamical system and navigation control system, carrier platform is provided with information acquisition system, information acquisition system and navigation control system signal are connected with ground control system, carrier platform global specific gravity, which is slightly less than water, makes that it is predominantly located under the water surface and only top is exposed the surface, carrier platform further includes chassis, longitudinal two sides of chassis and top are provided with the upper casing in reverse U shape section, thick cage structure between making chassis and upper casing constitute longitudinal both ends detail for strip；Chassis and upper casing constitute closed shell, and the surrounding of shell and bottom are provided with the air bag that several outer surfaces interconnect, and the nylon sheath of the smooth elasticity in surface is provided on the outside of air bag.The beneficial effect of this programme can according to the description of the above program, and structure is simple, and design rationally, avoids the risk of people, and is predominantly located under water, to reduce the influence of strong wind and heavy rain.
Description
Technical field
The present invention relates to a kind of flood control instrument more particularly to a kind of root stone detection systems.
Background technique
River training works is the important component of control flood engineering, mainly includes river control works and dangerous section two
Point.River control works and dangerous section are made of three kinds of groynes, pile (short groynes), shore protection buildings, generally based on buttress.Buttress structure
Including earth dam body, slope protection (smooth stone), root guard (root stone) three parts.In order to guarantee buttress safety, it is necessary to understand the distribution of root stone in time
Situation, to carry out preparation of rescuing and protecting, the serious dangerous situation such as prevent from breaking down occurs.
The Yellow River middle and lower reaches river situations, conduct (shield beach) engineering have hundreds of places, ten thousand on the bank, dam, engineering length nearly 1,000
Rice.Past, the conventional detection technology used on the Yellow River are contacts and rely on operator's micro-judgment Underwater Engineering basis
The method of situation: water bar probe method is 1. visited.The graduated bamboo stock of 6~8m long, mark is directly used to visit on bank by detection personnel
It surveys.2. fish lead probe method.Fish lead is aboard ship placed to underwater, with the depth that the rope measurement root stone for indicating scale is tied up on fish lead
Degree.3. manually cone spy method (or underwater cone spy method).Root stone is directly aboard ship touched with the steel pricker of certain length, encounters mud
When cone bar to pass through mud until root stone, and fathom.4. mobile type electric detects root stone machine.The machine is using double drive
Two synchronous rotary idler wheels, eccentric bushing that can be self-locking by one end squeeze feeler lever, and two idler wheels driving feeler lever detects downwards root stone.These
Method has the shortcomings that resultant error is big, and especially risk is larger.
The contactless Detection Techniques research of root stone starts from 1980, was once put into national " eight or five " key scientific and technological projects, and threw
A large amount of human and material resources, financial resources are entered, carry out experimental study using a variety of methods not can solve although having made some progress
This problem.Get the Green Light Ministry of Water Resources " 948 " project " dam bank engineering underwater foundation Detection Techniques research " that Huang committee declares project verification,
It has introduced Edgetech company, U.S. X-STAR and has composed sweep-frequency Békésy audiometer number sub-bottom profiler entirely.Change by technology upgrading and instrument
Make, form with root stone detection, data storage, computer information management function system, i.e. 3200-XS shallow seismic profile
Instrument detection system, the detection system are made of sub-bottom profiler, GPS dynamic difference instrument, boat-carrying detection system and related software,
Wherein sub-bottom profiler is made of host, towfish and transmission line.
The advantages of sub-bottom profiler detection system: first is that using GPS dynamic difference functional examination and storage detection section,
Long-term fixed detection section and track of navigating, convenient for compared with design section, reducing because detection section variation bring detection misses
Difference, to improve the accuracy of detection；Second is that developing the undersea detection instrument for being adapted to the high silt-laden river such as the Yellow River and analysis
Software can efficiently differentiate riverway sludge layer and root stone top surface, improve detection accuracy；Third is that realize detection host, transmission,
Data store the integrated operation of operation, improve detection and Analysis on Results calculates effect；Fourth is that it is easy to operate, carry out root stone detection
2 people's operations are only needed, root stone can be quickly and accurately detected, provide decision support for the reinforcing of root stone, while safety is also significantly
Enhancing.
The achievement has passed through the identification of Ministry of Water Resources's tissue, and research achievement is totally reached advanced world standards, wherein in small ruler
It reaches the international leading level in terms of the comprehensive integrations of key technologies such as degree fining root stone detection.This technology successively Zhengzhou,
Xinxiang, Heze Middle Yellow River business office have carried out production and have promoted test, are analyzed, are further demonstrated by detection comparison and field condition
The validity and accuracy of instrument detection, speed of detection reach daily 20 buttress.Then, it is completed again using this technology
The root stone detection task of 13 county telephone central offices belonging to Shandong, two Middle Yellow River business office, province of Henan, achieves good flood control and economic benefit.
But lacking the special purpose ship for being suitable for sub-bottom profiler detection, the detecting ship utilized when root stone detection at present is more
For the civilian boat of rental, performance, which is difficult to meet detection, to be required, mainly hull is excessively narrow, the side of a ship is too low, capacity of anti-storm compared with
Difference, operation and equipment placement are inconvenient, and personnel, the safety of equipment is insufficient；It pops one's head in plug-in, resistance is big when navigating, especially adverse current
It is become apparent when navigating, influences detection effect to a certain extent.
Summary of the invention
The present invention be directed to deficiencies of the prior art, and provide a kind of simple structure and reasonable design, avoid
The risk of people, and be predominantly located under water, to reduce a kind of root stone detection system of the influence of strong wind and heavy rain.
To achieve the goals above, the present invention provides carrier platform, carrier platform is provided with dynamical system, navigation control
System and information acquisition system, information acquisition system and navigation control system signal are connected with ground control system, and carrier is flat
Platform global specific gravity, which is slightly less than water, makes that it is predominantly located under the water surface and only top is exposed the surface, and avoids the risk of people,
And it is predominantly located under water, to reduce the influence of strong wind and heavy rain.
Specifically, the present invention is a kind of root stone detection system, including carrier platform, the carrier platform includes dynamical system
And navigation control system, the carrier platform are provided with information acquisition system, the information acquisition system and navigation control system
Signal is connected with ground control system, which is characterized in that the carrier platform interior setting void space keeps global specific gravity smaller
Make that it is predominantly located under the water surface in water and only top is exposed the surface, the carrier platform further includes chassis, the chassis
Longitudinal two sides and top be provided with the upper casing in reverse U shape section, constituting the chassis and upper casing longitudinal is the two of strip
Thick cage structure between the detail of end；The chassis and upper casing constitute closed shell, and the surrounding of the shell and bottom are provided with
The air bag that several outer surfaces interconnect, the air bag outside are provided with the nylon sheath of the smooth elasticity in surface；The chassis
Connect the dynamical system, navigation control system and information acquisition system；The dynamical system includes being located at the carrier platform
The amphibious driving wheel of front end.
Wherein, the dynamical system includes motor, and the motor driven is connected with electronic controlled transmission, the electronic controlled transmission
There are two amphibious driving wheels described in out-of-alignment for transmission connection；The driving wheel is located at the front end of the chassis, the chassis
Rear end is provided with driven wheel.
The chassis is molded part, and the chassis is located at the driving wheel and driven wheel lengthwise position sees setting from bottom to top
There is the straight trough that twice are upward, the straight trough is located at the driving wheel and the further depth of setting is seen in driven wheel position from bottom to top
Arc groove, the depth of the relatively described straight trough of the arc groove be equal to the driving wheel or driven wheel radius and the driving wheel or
The sum of driven wheel and the gap of arc groove.
The wheel face of the driving wheel is equally distributed lance tooth, is enclosed with rubber layer on the outside of the driving wheel.
The wheel face of the driven wheel is longitudinal triangle ansa.
The navigation control system includes processor, and the processor signal is connected with GPS receiver and wireless signal is received
Device is sent out, the processor also signal is connected with motor controller, and the motor controller is electrically connected the motor.
The information acquisition system includes energy converter, and the transducer signal connects the processor.
The ground control system includes computer, and the computer radio signal connects the wireless signal transceiver.
The top of the shell is provided with protrusion, and the top of the wireless signal transceiver is located at the high spot.
The housing tip is additionally provided with alarm device, and the alarm device includes flare pistol, the tail portion of the flare pistol
It is provided with percussion lock, the percussion lock includes striker shell, and the striker housing cavity is provided with striker, and the striker connects
It is connected to spring, is provided between the tail portion of the striker and the tail portion of the striker shell and meets the spacing collar that water melts.
The beneficial effect of this programme can according to the description of the above program, and structure is simple, and design rationally, avoids people
Risk, and be predominantly located in underwater, to reduce the influence of strong wind and heavy rain, especially in flood season, can conveniently make
With and without worry human safety issues.The surrounding of shell and bottom are provided with the air bag that several outer surfaces interconnect, once
The factors such as billow or breach are encountered by the equipment for protecting inside of being jettisoninged, and air bag outside is provided with the nylon of the smooth elasticity in surface
Crust reduces the resistance in water.Driving wheel is located at the front end of the chassis, so that stability be made to be guaranteed.Electronic controlled transmission passes
There are two the amphibious driving wheels of out-of-alignment for dynamic connection, facilitate two driving wheel friction speeds to turn to.Driving wheel is located at chassis
Front end be avoided that yaw phenomenon occur.Chassis is located at the driving wheel and driven wheel lengthwise position is seen be provided with two from bottom to top
The upward straight trough in road, straight trough is located at the driving wheel and the arc groove that further depth is arranged is seen in driven wheel position from bottom to top,
Go deep into chassis as driving wheel and driven wheel insertion to allow, prevents the driving wheel excessively protruded and driven wheel from once colliding
Torque is excessive to be easily damaged；And it is provided with the upward straight trough of twice in this case, in order to which driving wheel stirs the logical of water flow
It crosses.Arc groove is equal to the radius of driving wheel or driven wheel and the gap of driving wheel or driven wheel and arc groove with respect to the depth of straight trough
The sum of, to make driving wheel have the maximum section for stirring water flow backward.The wheel face of driving wheel is equally distributed lance tooth,
It can strike and advance in mud when stranded well；It is enclosed with rubber layer on the outside of driving wheel, is due to driving wheel
Shell is protruded, protects driving wheel and integral power device once colliding.The wheel face of driven wheel is longitudinal triangle ansa,
Not only it is conducive to trek when stranded, and tail swing can be prevented.Shell is provided with protrusion, and the top of wireless signal transceiver
It is the unrestrained often covering this programme entirety that would generally be travelled due to this programme in wind and rain weather, water positioned at the high spot, if
Protrusion is set convenient for exposing the top of wireless signal transceiver more except the water surface, is convenient for wireless telecommunications.Housing tip is also
It is provided with alarm device, alarm device includes flare pistol, once being convenient for the leak of this shell, issues signal flare and notifies staff.
Percussion lock includes striker shell, and striker housing cavity is provided with striker, and striker is connected with spring, the tail portion of striker and striker shell
It is provided between the tail portion of body and meets the spacing collar that water melts, once leak, striker loses limit arming signal bullet, and will limit
The tail portion of striker is arranged in circle, even if striker sliding speed when getting rid of spacing collar is very slow, but once gets rid of and there is a need
The stroke of accelerated accumulation inertia.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is A-A sectional view of Fig. 1；
Fig. 3 is the front view of driven wheel；
Fig. 4 is the schematic diagram of flare pistol of the present invention；
Fig. 5 is signal connection figure of the invention；
In figure, 1, carrier platform；2, chassis；3, upper casing；4, spacing collar；5, air bag；6, driving wheel；7, motor；8, automatically controlled
Speed changer；9, driven wheel；10, straight trough；11, arc groove；12, rubber layer；13, processor；14, GPS receiver；15, wireless communication
Number transceiver；16, motor controller；17, spring；18, energy converter；19, raised；20, flare pistol；21, striker shell；22, it hits
Needle.
Specific embodiment
In order to clarify the technical characteristics of the invention, being illustrated below by specific embodiment to this programme.
As shown in Figure 1, the present embodiment is a kind of root stone detection system, including carrier platform 1, carrier platform 1 includes power
System and navigation control system, carrier platform 1 are provided with information acquisition system, information acquisition system and navigation control system signal
It is connected with ground control system, setting void space, which makes global specific gravity be slightly less than water, inside carrier platform 1 is predominantly located in it
Under the water surface and only top is exposed the surface, and carrier platform 1 further includes chassis 2, and longitudinal two sides of chassis 2 and top are provided with down
The upper casing 3 in U-shaped section, thick cage structure between making chassis 2 and upper casing 3 constitute longitudinal both ends detail for strip；Chassis 2
Closed shell is constituted with upper casing 3, and the surrounding of shell and bottom are provided with the air bag 5 that some outer surfaces interconnect, outside air bag
Side is provided with the nylon sheath of the smooth elasticity in surface；Chassis 2 connects dynamical system, navigation control system and information collection system
System；Dynamical system includes the amphibious driving wheel 6 positioned at carrier platform front end.
Dynamical system includes motor 7, and motor 7 is sequentially connected with electronic controlled transmission 8, and electronic controlled transmission 8 is sequentially connected with two
A amphibious driving wheel 6 of out-of-alignment；Driving wheel 6 is located at the front end of chassis 2, and the rear end of chassis 2 is provided with driven wheel 9.
Chassis 2 is molded part, chassis 2 is located at driving wheel 6 and 9 lengthwise position of driven wheel see from bottom to top be provided with twice to
On straight trough 10, straight trough 10 is located at driving wheel 6 and the arc groove 11 that further depth is arranged is seen in 7 position of driven wheel from bottom to top,
Arc groove 11 is equal to the radius and driving wheel 6 or driven wheel 9 and arc groove of driving wheel 6 or driven wheel 9 with respect to the depth of straight trough 10
The sum of 11 gap.
The wheel face of driving wheel 6 is equally distributed lance tooth, and the outside of driving wheel 6 is enclosed with rubber layer 12.Driven wheel 9
Wheel face be longitudinal triangle ansa.
Navigation control system includes processor 13, and 13 signal of processor is connected with GPS receiver 14 and wireless signal transmitting-receiving
Device 15, processor 13 go back signal and are connected with motor controller 16, and motor controller 16 is electrically connected motor 17.
Information acquisition system includes energy converter 18, and 18 signal of energy converter connects processor 13.
Ground control system includes computer, and computer radio signal connects wireless signal transceiver 15.
The top of upper casing 3 is provided with protrusion 19, and the top of wireless signal transceiver 15 and GPS receiver 14 is located at protrusion 19
Place.3 top of upper casing is additionally provided with alarm device, and alarm device includes flare pistol 20, and the tail portion of flare pistol 20 is provided with percussion dress
It sets, percussion lock includes striker shell 21, and 21 inner cavity of striker shell is provided with striker 22, and striker 22 is connected with spring 23, striker
It is provided between 22 tail portion and the tail portion of striker shell 21 and meets the spacing collar 24 that water melts.
Technical characteristic of the present invention without description can realize that details are not described herein by or using the prior art, certainly,
The above description is not a limitation of the present invention, and the present invention is also not limited to the example above, the ordinary skill of the art
The variations, modifications, additions or substitutions that personnel are made within the essential scope of the present invention also should belong to protection model of the invention
It encloses.
Claims (3)
1. a kind of root stone detection system, including carrier platform, the carrier platform includes dynamical system and navigation control system, institute
It states carrier platform and is provided with information acquisition system, the information acquisition system and navigation control system signal are connected with ground control
System, which is characterized in that
Carrier platform interior setting void space make global specific gravity be slightly less than water make its be predominantly located under the water surface and only
There is top to expose the surface, the carrier platform further includes chassis, and longitudinal two sides of the chassis and top are provided with reverse U shape and cut
The upper casing in face, thick cage structure between making the chassis and upper casing constitute longitudinal both ends detail for strip；
The chassis and upper casing constitute closed shell, and the surrounding of the shell and bottom are provided with several outer surfaces and interconnect
Air bag, the nylon sheath of the smooth elasticity in surface is provided on the outside of the air bag；
The chassis connects the dynamical system, navigation control system and information acquisition system；
The dynamical system includes the amphibious driving wheel positioned at carrier platform front end；
The dynamical system includes motor, and the motor driven is connected with electronic controlled transmission, the electronic controlled transmission transmission connection
There are two amphibious driving wheels described in out-of-alignment；
The driving wheel is located at the front end of the chassis, and the rear end of the chassis is provided with driven wheel；
The chassis is molded part, and the chassis is located at the driving wheel and driven wheel lengthwise position is seen be provided with two from bottom to top
The upward straight trough in road, the straight trough is located at the driving wheel and the arc that further depth is arranged is seen in driven wheel position from bottom to top
Slot, the depth of the relatively described straight trough of the arc groove are equal to the radius of the driving wheel or driven wheel and the driving wheel or driven
The sum of the gap of wheel and arc groove；
The wheel face of the driving wheel is equally distributed lance tooth, is enclosed with rubber layer on the outside of the driving wheel；
The wheel face of the driven wheel is longitudinal triangle ansa；
The navigation control system includes processor, and the processor signal is connected with GPS receiver and wireless signal transceiver,
The processor also signal is connected with motor controller, and the motor controller is electrically connected the motor；
The information acquisition system includes energy converter, and the transducer signal connects the processor；
The top of the shell is provided with protrusion, and the top of the wireless signal transceiver is located at the high spot.
2. a kind of root stone detection system according to claim 1, which is characterized in that the ground control system includes calculating
Machine, the computer radio signal connect the wireless signal transceiver.
3. a kind of root stone detection system according to claim 1 or 2, which is characterized in that the housing tip is additionally provided with
Alarm device, the alarm device include flare pistol, and the tail portion of the flare pistol is provided with percussion lock, the percussion lock packet
Include striker shell, the striker housing cavity is provided with striker, and the striker is connected with spring, the tail portion of the striker with it is described
It is provided between the tail portion of striker shell and meets the spacing collar that water melts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710271287.5A CN107089105B (en) | 2017-04-24 | 2017-04-24 | A kind of root stone detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710271287.5A CN107089105B (en) | 2017-04-24 | 2017-04-24 | A kind of root stone detection system |
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| Publication Number | Publication Date |
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| CN107089105A CN107089105A (en) | 2017-08-25 |
| CN107089105B true CN107089105B (en) | 2019-11-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710271287.5A Active CN107089105B (en) | 2017-04-24 | 2017-04-24 | A kind of root stone detection system |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108639258B (en) * | 2018-03-23 | 2024-03-08 | 山东黄河顺成水利水电工程有限公司 | Remote control root stone exploring ship |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201347196Y (en) * | 2009-02-09 | 2009-11-18 | 朱立锋 | Marine protection device |
| CN201619680U (en) * | 2010-02-23 | 2010-11-03 | 湖北工业大学 | Fish-type underwater search and rescue device |
| CN104760676A (en) * | 2015-04-02 | 2015-07-08 | 浙江海洋学院 | Buoyancy-adjustable small underwater robot platform |
| CN105083506A (en) * | 2015-08-25 | 2015-11-25 | 中国计量学院 | Automatic floating device of underwater robot and method for controlling automatic floating device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5363287B2 (en) * | 2009-11-30 | 2013-12-11 | 三井造船株式会社 | Bulk carrier, bulk barge and bulk cargo loading method |
-
2017
- 2017-04-24 CN CN201710271287.5A patent/CN107089105B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201347196Y (en) * | 2009-02-09 | 2009-11-18 | 朱立锋 | Marine protection device |
| CN201619680U (en) * | 2010-02-23 | 2010-11-03 | 湖北工业大学 | Fish-type underwater search and rescue device |
| CN104760676A (en) * | 2015-04-02 | 2015-07-08 | 浙江海洋学院 | Buoyancy-adjustable small underwater robot platform |
| CN105083506A (en) * | 2015-08-25 | 2015-11-25 | 中国计量学院 | Automatic floating device of underwater robot and method for controlling automatic floating device |
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| CN107089105A (en) | 2017-08-25 |
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Effective date of registration: 20191022 Address after: Room 502-3, east area, building a, headquarters center, No. 23, Guangfu East Street, houtang community, Jiangbei street, Dongyang City, Jinhua City, Zhejiang Province 322100 Applicant after: Dongyang Zhongao Construction Engineering Co.,Ltd. Address before: 201103, Shanghai, Xuhui District Hongmei Road, 2005 building 3 Building No. Applicant before: Zhao Jiali |
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Effective date of registration: 20230106 Address after: 274042 505, Floor 5, South of Heze Industrial Technology Research Institute, Dianhutun Nanjing Road, Heze Development Zone, Shandong Province Patentee after: Law Seeking and Law Seeking (Heze) Legal Consulting Service Co.,Ltd. Address before: 322100 room 502-3, east area, building a, headquarters center, No. 23, Guangfu East Street, houtang community, Jiangbei street, Dongyang City, Jinhua City, Zhejiang Province Patentee before: Dongyang Zhongao Construction Engineering Co.,Ltd. |
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