CN108267127A - Bathymetric surveying system and method - Google Patents
Bathymetric surveying system and method Download PDFInfo
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- CN108267127A CN108267127A CN201810187403.XA CN201810187403A CN108267127A CN 108267127 A CN108267127 A CN 108267127A CN 201810187403 A CN201810187403 A CN 201810187403A CN 108267127 A CN108267127 A CN 108267127A
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- bathymetric surveying
- depth
- mechanical arm
- fixed link
- surveying system
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- 238000000034 method Methods 0.000 title claims abstract description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 31
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 238000005259 measurement Methods 0.000 claims abstract description 13
- 210000000078 claw Anatomy 0.000 claims description 9
- 230000006698 induction Effects 0.000 claims description 6
- 239000007769 metal material Substances 0.000 claims description 4
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
Classifications
-
- 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
- G01C13/008—Surveying specially adapted to open water, e.g. sea, lake, river or canal measuring depth of open water
-
- 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
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- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The present invention provides a kind of bathymetric surveying system and measuring method, including robot arm device and depth-measuring system, depth detection apparatus in depth-measuring system is mounted on the free end of mechanical arm in robot arm device, and depth detection apparatus is electrically connected with Water depth measuring instrument host by way of wirelessly or non-wirelessly；In the depth detection apparatus, fixed link is vertical to be fixedly connected with the free end of mechanical arm, and the bottom end of fixed link is equipped with energy converter.Robot arm device rests in the bank for needing measured zone；Mechanical arm is reached above the measured zone water surface, ensures that energy converter is in 0.5m below the water surface, and vertical with water surface holding, proceeds by the bathymetric surveying work of the point；Pass through the movement of the mobile realization measurement point position of mechanical arm；Bathymetric surveying is realized by above step.Bathymetric surveying point position can be moved according to the wish of survey crew, can be evenly distributed in bathymetric surveying region, improve the quality and efficiency of bathymetric surveying.
Description
Technical field
The present invention relates to bathymetric surveying field, particularly a kind of bathymetric surveying system and measuring method.
Background technology
At present, general bathymetric surveying uses ship as measuring table, due to ship floating on the water, Wu Fagu
Fixed, in measurement process, ship is moved with flow, even if for power boat, when measuring certain point position, ship can not also surveyed
It is fixed on amount point position.Bathymetric surveying instrument is to calculate the depth of water by the time difference of energy converter transmitted wave and back wave, and when measurement is sent out
For ejected wave after the reflection of underwater initial land form, ship is moved into other positions with energy converter, has to measurement accuracy larger
It influences.
Ship is in dynamic water, and especially certain fluidised forms are complicated, in flow velocity urgency dynamic water, and ship can not be according to survey crew's
Wish is moved, and is unable to control the distribution of measurement point position, and possible regional area point position is overstocked after being measured, and regional area is not
It measures, measuring quality can not be guaranteed.
Invention content
The technical problems to be solved by the invention are to provide a kind of bathymetric surveying system and measuring method, Neng Gouan
Entirely, efficiently, accurately bathymetric surveying is carried out in dynamic water area.
In order to solve the above technical problems, the technical solution adopted in the present invention is：A kind of bathymetric surveying system, including
Robot arm device and depth-measuring system, the depth detection apparatus in depth-measuring system are mounted on mechanical arm in robot arm device
Free end, depth detection apparatus is electrically connected with Water depth measuring instrument host by way of wirelessly or non-wirelessly；
In the depth detection apparatus, fixed link is vertical to be fixedly connected with the free end of mechanical arm, and the bottom end of fixed link is set
There is energy converter.
In preferred scheme, in the robot arm device, mechanical arm is connect with walking basal seat, and mechanical arm is equipped at least
Rotatable joint at two.
In preferred scheme, claw is equipped in the free end of mechanical arm, mounting base is fixedly connected with claw, and mounting base is with erecting
Straight tube body is fixedly connected, and is equipped with multiple trip bolts in the side wall of tube body, fixed link is penetrated into tube body, and by trip bolt
It is fixed.
In preferred scheme, spatial position positioning device is additionally provided on the top of fixed link.
In preferred scheme, the spatial position positioning device is GPS positioning device or Big Dipper positioning device.
In preferred scheme, vertical sensor, the axis of the vertical sensor and fixation are fixedly provided in fixed link
The axis of bar is parallel.
In preferred scheme, in the vertical sensor, the top of elastic rod is fixedly connected with the casing, and elastic rod is located at
The position of center line of vertical sensor housing, the bottom end of elastic rod are equipped with the induction sphere of metal material, and electricity is equipped in inner walls
Hold film.
In preferred scheme, it is additionally provided with depth transducer on the top of fixed link, in the depth transducer, drawstring one
End is fixedly connected with the top of fixed link, and the other end is connect with floating ball, and pulling force sensor is equipped between drawstring and floating ball.
A kind of measuring method using above-mentioned bathymetric surveying system includes the following steps：
S1, robot arm device rest in the bank for needing measured zone；
S2, mechanical arm is reached above the measured zone water surface, ensures that energy converter is in 0.5m below the water surface, and is kept with the water surface
Vertically, the bathymetric surveying work of the point is proceeded by；
S3, the movement by the mobile realization measurement point position of mechanical arm；
S4, mechanical arm coverage area in be measured after, walking basal seat moves a distance, continues through mechanical arm and is surveyed
Amount；
Bathymetric surveying is realized by above step.
Energy converter is kept to be located at underwater 0.5m and keeps horizontal with the water surface in measurement process in preferred scheme.
A kind of bathymetric surveying system and measuring method provided by the invention, are installed by using by depth detection apparatus
Method on the robotic arm by the action of big forearm, revolution and the walking of walking basal seat of mechanical arm, realizes depth detection apparatus
The accurate movement of measurement point position.Device and method using the present invention, bathymetric surveying point position can be according to survey crew's
Wish is moved, and can be evenly distributed in bathymetric surveying region, greatly improves the matter of bathymetric surveying
Amount and efficiency.The measuring method of the present invention using mechanical arm as carrier is measured, realizes separate men from machines, survey crew can be in bank
The upper operation for carrying out measuring apparatus ensure that the life safety of survey crew.
Description of the drawings
The invention will be further described with reference to the accompanying drawings and examples：
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the structure diagram of fixed link in the present invention.
Fig. 3 is the attachment structure schematic diagram of depth detection apparatus in the present invention.
Fig. 4 is the preferred structure schematic diagram of depth detection apparatus in the present invention.
Fig. 5 is the structure diagram of vertical sensor in the present invention.
Fig. 6 is the structure diagram of depth transducer in the present invention.
In figure：Water depth measuring instrument host 1；Spatial position positioning device 2；Fixed link 3；Energy converter 4；Fixing device 5；Fastening
Screw 51；Mounting base 52；Tube body 53；Signal wire 6；Mechanical arm 7；Claw 71；Walking basal seat 72；Excavate platform 8；Vertical sensor
9；Elastic rod 91；Capactive film 92；Induction sphere 93；Depth transducer 10；Floating ball 101；Drawstring 102；Pulling force sensor 103.
Specific embodiment
Embodiment 1：
In Fig. 1, a kind of bathymetric surveying system, including robot arm device and depth-measuring system, in depth-measuring system
Depth detection apparatus be mounted on the free end of mechanical arm 7 in robot arm device, depth detection apparatus and Water depth measuring instrument host 1
It is electrically connected by way of wirelessly or non-wirelessly；Water depth measuring instrument host 1 is set on the coast.
In the depth detection apparatus, fixed link 3 is vertical to be fixedly connected with the free end of mechanical arm 7, fixed link 3
Bottom end is equipped with energy converter 4.Long-armed backhoe may be used in robot arm device in this example, can also use other long mechanical arm dresses
It puts.The energy converter 4 is ultrasonic transducer, and the depth of water is calculated by the time difference of transmitted wave and back wave.
In preferred scheme such as Fig. 1, in the robot arm device, mechanical arm 7 is with walking basal seat 72 with rotatable side
Formula connects, and mechanical arm 7 is equipped with rotatable joint at least two.Rotatable joint, respectively pawl at three are equipped in this example
Portion joint, small shoulder joint and large-arm joint.
In preferred scheme such as Fig. 1 ~ 4, claw 71 is equipped in the free end of mechanical arm 7, mounting base 52 is fixed with claw 71
Connection, mounting base 52 are fixedly connected with vertical tube body 53, and multiple trip bolts 51, fixed link 3 are equipped in the side wall of tube body 53
It penetrates into tube body 53, and is fixed by trip bolt 51.
In preferred scheme such as Fig. 2 ~ 4, spatial position positioning device 2 is additionally provided on the top of fixed link 3.
In preferred scheme, the spatial position positioning device 2 is GPS positioning device or Big Dipper positioning device.Thus
Structure, depth of water numerical value is corresponding with spatial position.
In preferred scheme such as Fig. 4,5, vertical sensor 9 is fixedly provided in fixed link 3, the vertical sensor 9
Axis is parallel with the axis of fixed link 3.
In preferred scheme such as Fig. 5, in the vertical sensor 9, the top of elastic rod 91 is fixedly connected with the casing, bullet
Property bar 91 be located at the position of center line of vertical 9 housing of sensor, the bottom end of elastic rod 91 is equipped with the induction sphere 93 of metal material,
Inner walls are equipped with capactive film 92.Thus structure, when vertical sensor 9 keeps vertical, capactive film 92 is detected and is sensed
The position of ball 93 is consistent, when vertical sensor 9 tilts, induction sphere 93 close to side capactive film 92, and far from another
The capactive film 92 of side, so as to which the voltage per side is influenced to change, therefore obtain inclined by the induction sphere 93 of metal material
Direction and numerical value are modified posture in the operating personnel of walking basal seat 72 according to numerical value, so that it is guaranteed that fixed link 3 keeps perpendicular
Directly.
In preferred scheme such as Fig. 4,6, depth transducer 10, the depth sensing are additionally provided on the top of fixed link 3
In device 10,102 one end of drawstring is fixedly connected with the top of fixed link 3, and the other end is connect with floating ball 101, in drawstring 102 and floating ball
Pulling force sensor 103 is equipped between 101.It is controlled from 101 bottom of floating ball to the height of energy converter 4 in 0.5m, when the pawl of mechanical arm 7
Portion 71 when being put into appropriate location below the water surface, after floating ball 101 is by buoyancy, that is, stretches pulling force sensor 103, so as to control
Depth of the energy converter 4 below the water surface.
Embodiment 2：
In Fig. 1, a kind of measuring method using above-mentioned bathymetric surveying system includes the following steps：
Mounting base 52 is fixedly connected by s1, the claw 71 that depth detection apparatus is fixedly mounted on to mechanical arm 7 with claw 71, will
Fixed link 3 and 4 mutually perpendicular connection of energy converter, fixed link 3 is inserted into tube body 53, tightens trip bolt 51, and installation is perpendicular
Direct transfer sensor 9, it is ensured that the axis of vertical sensor 9 is parallel with the axis of fixed link 3, is fixedly mounted on the top of fixed link 3 empty
Between the drawstring 102 of location position device 2 and depth transducer 10.Robot arm device is rested in by walking basal seat 72 to be needed to measure
The bank in region；To ensure the safety of the equipment in measurement process, the crawler belt face of walking basal seat 72 when robot arm device is stopped
Bank and crawler belt end stay the safe distance of 1.5 ~ 2m far from bank.By depth detection apparatus and the Water depth measuring instrument master positioned at bank
Machine 1 is connected by signal wire 6, it is preferred that using wireless connection is also feasible.
S2, mechanical arm is reached above the measured zone water surface, ensures that energy converter is in 0.5m below the water surface, and and the water surface
It keeps vertical, proceeds by the bathymetric surveying work of the point；
S3, the movement by the mobile realization measurement point position of mechanical arm 7；
S4, it when measuring, behind the complete point position in a row of 72 crawler belt direction of walking basal seat sequence, by the movement of mechanical arm 7 or returns
Rotate into the measurement of row next row point position；After being measured in the coverage area of mechanical arm 7, walking basal seat 72 moves a distance,
Mechanical arm 7 is continued through to measure；
In preferred scheme, energy converter 4 is kept to be located at underwater 0.5m in measurement process and keeps horizontal with the water surface.
Bathymetric surveying is realized by above step.
The above embodiments are only the preferred technical solution of the present invention, and are not construed as the limitation for the present invention, this hair
Technical characteristic described in bright under the premise of not conflicting, can be combined with each other use, and protection scope of the present invention should be with right
It is required that record technical solution, including claim record technical solution in technical characteristic equivalents for protection model
It encloses.Equivalent replacement i.e. within this range is improved, also within protection scope of the present invention.
Claims (10)
1. a kind of bathymetric surveying system, it is characterized in that：Including robot arm device and depth-measuring system, depth-measuring system
In depth detection apparatus be mounted on robot arm device in mechanical arm（7）Free end, depth detection apparatus and Water depth measuring instrument
Host（1）It is electrically connected by way of wirelessly or non-wirelessly；
In the depth detection apparatus, fixed link（3）Vertical and mechanical arm（7）Free end be fixedly connected, fixed link（3）
Bottom end be equipped with energy converter（4）.
2. a kind of bathymetric surveying system according to claim 1, it is characterized in that：In the robot arm device, machine
Tool arm（7）With walking basal seat（72）Connection, mechanical arm（7）It is equipped with rotatable joint at least two.
3. a kind of bathymetric surveying system according to claim 1, it is characterized in that：In mechanical arm（7）Free end set
There is claw（71）, mounting base（52）With claw（71）It is fixedly connected, mounting base（52）With vertical tube body（53）It is fixedly connected,
Tube body（53）Side wall be equipped with multiple trip bolts（51）, fixed link（3）Penetrate into tube body（53）It is interior, and by trip bolt（51）
It is fixed.
4. a kind of bathymetric surveying system according to claim 1, it is characterized in that：In fixed link（3）Top also set
There is spatial position positioning device（2）.
5. a kind of bathymetric surveying system according to claim 4, it is characterized in that：The spatial position positioning device
（2）For GPS positioning device or Big Dipper positioning device.
6. a kind of bathymetric surveying system according to claim 1, it is characterized in that：Fixed link（3）On be fixedly provided with it is perpendicular
Direct transfer sensor（9）, the vertical sensor（9）Axis and fixed link（3）Axis it is parallel.
7. a kind of bathymetric surveying system according to claim 6, it is characterized in that：The vertical sensor（9）In,
Elastic rod（91）Top be fixedly connected with the casing, elastic rod（91）Positioned at vertical sensor（9）The position of center line of housing, bullet
Property bar（91）Bottom end be equipped with metal material induction sphere（93）, capactive film is equipped in inner walls（92）.
8. a kind of bathymetric surveying system according to claim 1, it is characterized in that：In fixed link（3）Top also set
There is depth transducer（10）, the depth transducer（10）In, drawstring（102）One end and fixed link（3）Top fix connect
It connects, the other end and floating ball（101）Connection, in drawstring（102）With floating ball（101）Between be equipped with pulling force sensor（103）.
9. a kind of measuring method using claim 1 ~ 8 any one of them bathymetric surveying system, it is characterized in that including
Following steps：
S1, robot arm device rest in the bank for needing measured zone；
S2, mechanical arm is reached above the measured zone water surface, ensures that energy converter is in 0.5m below the water surface, and is kept with the water surface
Vertically, the bathymetric surveying work of the point is proceeded by；
S3, pass through mechanical arm（7）Mobile realization measurement point position movement；
S4, mechanical arm（7）Coverage area in be measured after, walking basal seat（72）Mobile a distance, continues through machinery
Arm（7）It measures；
Bathymetric surveying is realized by above step.
10. a kind of measuring method using bathymetric surveying system according to claim 9, it is characterized in that：It is measuring
Energy converter is kept in the process（4）Keep horizontal positioned at underwater 0.5m and with the water surface.
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|---|---|---|---|
| CN201810187403.XA CN108267127B (en) | 2018-03-07 | 2018-03-07 | Underwater topography measurement system and method |
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|---|---|---|---|
| CN201810187403.XA CN108267127B (en) | 2018-03-07 | 2018-03-07 | Underwater topography measurement system and method |
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| CN108267127B CN108267127B (en) | 2024-05-03 |
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