CN109489639A - A kind of sounding gear and its application method for mapping - Google Patents
A kind of sounding gear and its application method for mapping Download PDFInfo
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- CN109489639A CN109489639A CN201811541882.7A CN201811541882A CN109489639A CN 109489639 A CN109489639 A CN 109489639A CN 201811541882 A CN201811541882 A CN 201811541882A CN 109489639 A CN109489639 A CN 109489639A
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- sounding instrument
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- 238000013507 mapping Methods 0.000 title claims abstract description 85
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000005259 measurement Methods 0.000 claims abstract description 28
- 238000004891 communication Methods 0.000 claims abstract description 13
- 238000005183 dynamical system Methods 0.000 claims abstract description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 31
- 230000004888 barrier function Effects 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000011229 interlayer Substances 0.000 claims description 3
- 239000010410 layer Substances 0.000 claims description 3
- 239000007921 spray Substances 0.000 description 3
- 238000012876 topography Methods 0.000 description 3
- 239000002283 diesel fuel Substances 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- VMXUWOKSQNHOCA-UKTHLTGXSA-N ranitidine Chemical compound [O-][N+](=O)\C=C(/NC)NCCSCC1=CC=C(CN(C)C)O1 VMXUWOKSQNHOCA-UKTHLTGXSA-N 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000033772 system development Effects 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
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- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- 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 present invention relates to a kind of sounding gears and its application method for mapping, including unmanned boat and sounding gear, sounding gear is fixed on the unmanned boat, and unmanned boat includes hull, master control set, power supply and dynamical system, cruising device, video acquisition device and communication system；Master control set is connect by communication interface with power supply with dynamical system, cruising device, video acquisition device, communication system and sounding gear, and master control set sends control instruction to power supply and dynamical system, cruising device, video acquisition device, communication system and sounding gear and receives its information；Sounding gear includes driving motor, depth measurement bracket and sounding instrument, and driving motor is connect with depth measurement bracket, battery group and master control set respectively.The method can significantly improve mapping efficiency and mapping precisions, and can reduce the labor intensity of staff and the safety of depth measurement process.
Description
Technical field
The present invention relates to underwater survey fields, and in particular to a kind of sounding gear and its application method for mapping.
Background technique
Bathymetric surveying is the work for measuring water-bed rolling shape and atural object, is underwater to prolong land topographic survey
It stretches, according to waters difference, and interior water topographic survey and ocean topographic survey can be divided into.Simultaneously in terms of measuring technique, the depth of water
Measurement experienced the developing stage such as the measurement of lining rope weight, simple beam echo depth sounding, multi-beam echo depth sounding.
Multibeam sounding system is once to provide the plane perpendicular with course line from single beam echosounding System Development
The even a depth up to a hundred of interior tens, can accurately and fast measure the size, shape of the submarine target along the one fixed width of course line
Shape truly realizes the planar survey of underwater topography to relatively reliable depict the fine-feature of underwater topography.With list
Wave beam echo depth sounder is compared, and multibeam sounding system has many advantages, such as that measurement range is big, speed is fast, precision and high-efficient.But
Be, due to by multibeam echosounder velocity of wave angle of release and velocity of wave angle limited so that in the wider river of the shallower water surface that sounds the depth of the water
Entire cross section of river can not be disposably measured when stream.
In marine sounding operation process, the underwater topography on shallow water area especially harbour, islands and reefs periphery is to ship
It stops, port engineering construction plays an important role.Currently, the mapping acquisition of information means of shallow water area are excessively single,
Rely primarily on small surveying vessel that large-scale surveying vessel carries or rent local fishing boat and carry out operation, due to integrally absorbed water by hull compared with
Deep influence, the shallow water areas such as islands and reefs periphery mapping task difficulty is big, and security risk is prominent, need to usually select in high water spring
Operation is carried out, operating efficiency is low.For unmanned boat since its self weight is lighter, figure is smaller and several for being impacted on interior river by stormy waves
Rate is less.So the shallower draft of unmanned boat, is conducive to unmanned boat and measures in shallow water area.
Chinese patent (CN205209491U) discloses unmanned boat, including power supply device, pushing meanss, captain boat body and position
Two auxiliary hulls in captain boat body two sides, captain boat body is interior to be equipped with data acquisition center, inertial navigation system, multibeam echosounding
Instrument, GPS positioning system and control module.This patent can be realized the faster speed of a ship or plane and outstanding maneuverability, still, this patent
Be not suitable for depth is shallower, interior Ha Noi depth measurement of wider width.
Summary of the invention
In order to overcome drawbacks described above, the present invention provides a kind of sounding gear and its application method for mapping, specifically adopts
With the following technical solution:
A kind of sounding gear for mapping, including unmanned boat and sounding gear, the sounding gear are fixed on unmanned boat
On, the unmanned boat includes hull, master control set, power supply and dynamical system, cruising device, video acquisition device and communication system
System；Hull uses double-layer structure, filled and process between interlayer；Mast is provided on front side of deck in ship structure.
Preferably, the power supply and dynamical system include power module and propulsion die；
The power module includes solar panel, battery group, diesel-driven generator；The battery component is not and too
Positive energy solar panel is connected with diesel-driven generator；The solar panel is arranged on the deck of hull, in solar irradiation abundance
When using solar panel for electric propulsion, extra electricity is battery charging；Using battery group for electric propulsion when night,
When solar panel is without normal direction battery charging, diesel-driven generator is battery charging；
The propulsion die includes water injector and propeller set, and the water injector and propeller set are set side by side
In afterbody.
Preferably, the communication system includes wireless transmitter receiver device, GPS positioning system, LED display and loudspeaker；
The wireless transmitter receiver device, GPS positioning system, LED display and loudspeaker are connect with master control set；The wireless transmission
Receiver, GPS positioning system and loudspeaker are arranged at mast top；The LED display is arranged in mast side, and can
Show subtitle；
The cruising device includes avoidance radar and mapping radar, and the avoidance radar is arranged in mast top, the survey
It draws on the deck of radar setting on the quarter；The mapping radar side slope to river both sides can implement mapping in real time, and will survey
The data transmission obtained is to master control set.
Preferably, the sounding gear includes driving motor, depth measurement bracket and sounding instrument；The driving motor respectively with survey
Ramus profundus frame, battery group are connected with master control set, and the sounding instrument is fixed on depth measurement bracket；
The driving motor includes the first motor being independently arranged and the second motor；The sounding instrument includes that structure is identical
Front side sounding instrument and rear side sounding instrument.
Preferably, the depth measurement bracket includes screw rod, long tooth wide gear, mobile bar, first gear and second gear；It is described
Long tooth wide gear cross section is in gear-like, and the facewidth of the long tooth wide gear is identical as the length of screw rod；The screw rod and long tooth
Wide gear parallel vertical is fixed on the topside of unmanned boat.
Preferably, the upper end of the screw rod is connect with first motor, and long tooth wide gear upper end is connect with the second motor,
The first motor and the second motor drive screw rod and long tooth wide gear to rotate respectively.
Preferably, the mobile bar is vertical with screw rod and long tooth wide gear respectively by the first connector and the second connector
Connection；
First connector one end is spline, and the other end is connection sleeve；The spline can be engaged with screw rod, described
It is identical as mobile bar outer diameter to connect sleeve diameter；The first motor, which is able to drive screw rod rotation, moves down mobile bar along screw rod
It is dynamic.
Preferably, second connector is in close contact long tooth wide gear and mobile bar；In the mobile bar with long tooth
Wide gear contact position is provided with the first rack gear engaged with long tooth wide gear；
It is respectively arranged with the second rack gear on the upside of one end of the mobile bar and on the downside of the other end, distinguishes at two the second rack gears
Engagement is connected with first gear and second gear；The first gear and second gear pass through sounding instrument bracket respectively and rear side is surveyed
Deep instrument is fixedly connected with front side sounding instrument；
The sounding instrument bracket includes carrier base and cradling piece, and one end of the cradling piece is fixedly connected with carrier base, separately
One end is in trident shape.
Preferably, the front side sounding instrument includes side sounding instrument on front side of the intermediate sounding instrument in a front side and two, described
Rear side sounding instrument includes the intermediate sounding instrument of a rear side and two rear side side sounding instruments；Sounding instrument and front side among the front side
Side sounding instrument is separately fixed at trident end；Two front sides side sounding instrument is arranged in the two of the intermediate sounding instrument in front side
Side and respectively with front side among sounding instrument at 50~70 degree of angles.
Based on the application method of the above-mentioned sounding gear for mapping, the application method includes:
(1) sounding gear is installed to unmanned board, front side sounding instrument and rear side sounding instrument is connect with master control set；
(2) geographical location and the terrain information in river, the navigation to unmanned boat are obtained from the satellite map in river to be measured
Route is planned, and navigation route is inputted in cruise system；
(3) avoidance radar and LED screen are opened, LED screen real-time display " public affair mapping, it is noted that evacuation " printed words are made, when keeping away
Barrier radar discovery around have barrier close to when automatic alarm, starting loudspeaker issue " public affair mapping, it is noted that avoid " police
Show voice；Unmanned ship position is determined by GPS positioning system, and GPS positioning system and cruising device are cooperated, unmanned foot is made
To mapping starting point；
(4) master control set control first motor starting, makes mobile bar drop to appropriate depth；
(5) mapping radar is implemented to scan to river two sides side slope, will measure slope height and side slope angle is transferred in time
Master control set, and river center line is determined by the scanning to two sides side slope, navigation route is further corrected, unmanned boat is made to begin
It is navigated by water eventually along river center line；
(6) master control set starts sounding instrument among the intermediate sounding instrument in front side and rear side simultaneously, and surveying and mapping data is transmitted to
Master control set；Master control set calculates the mean depth in riverbed by surveying and mapping data, and combines the angle of two sides side slope, calculates
River riverbed width；If riverbed width is greater than the wave beam angle of release cover width of sounding instrument and rear side centre sounding instrument among front side
When, master control set can start front side side sounding instrument automatically and rear side side sounding instrument implements mapping, and unmanned boat is made once to navigate
Row can map out the landform in entire riverbed；
(7) master control set calculates the angle of front side sounding instrument and rear side sounding instrument according to the river depth of water, and passes through control
Second electric motor starting changes the angle of front side sounding instrument and rear side sounding instrument, makes the field angle of front side sounding instrument and rear side sounding instrument
The lap of covering is minimum, effectively improves along river direction one-shot measurement width；
(8) master control set receives transmitter by signal and riverbed and the surveying and mapping data of side slope is sent to bank base mapping in time
It stands, surveying and mapping data is generated the three-dimensional land map in river by bank base mapping station.
Present invention advantageous effects obtained:
(1) present invention is by by multibeam echosounder, mapping radar and unmanned boat reasonable combination, and to multibeam echosounding
The layout of instrument and mapping radar has done reasonable layout, so that mapping efficiency of the invention and mapping precision effectively improve, and significant
Reduce the labor intensity of staff and the safety of depth measurement process.
(2) present invention is provided with depth measurement bracket, and the both ends of the depth measurement bracket are respectively provided with front side sounding instrument and rear side is surveyed
Deep instrument, the front side sounding instrument and rear side sounding instrument distance are farther out and relative angle is adjustable, can adjust in time phase according to different water depth
To angle, maximizes front side sounding instrument and rear side sounding instrument along river longitudinal direction one-shot measurement institute's cover width, effectively improve survey
Draw efficiency；Sounding instrument fixed frame can be fallen into river water automatically in mapping in the present invention, do not worked or risen from water when overhauling
Face waits mapping or to be checked next time.
(3) present invention can measure Channel slope height and side slope by designing a mapping radar on unmanned boat in real time
The equilateral slope geomorphology information of angle, and combined by the river mean depth that side slope angle and multibeam echosounder measure
Calculate the riverbed width in the river.
(4) present invention is made of by separately designing front side sounding instrument and rear side sounding instrument three multibeam echosounders,
And three multibeam echosounder adjacent angle of release is larger, so that front side sounding instrument and rear side sounding instrument one-shot measurement are along river
Laterally mapping width is significantly expanded, and can reach primary navigation can map out entire channel morphology.
(5) sounding gear is fixed on unmanned boat by the present invention, is self-possessed the shallow feature of lighter draft using unmanned boat,
So that the present invention is suitble to the river depth bounds of mapping wider, use scope of the invention is effectively increased.
(6) present invention is provided with GPS positioning system, navigation route can be set before each mapping task, and combine and survey
Drawing radar travels the present invention always on river center line.
(7) present invention is provided with avoidance radar, loudspeaker on mast top, and the four sides of mast is provided with LED display,
And be provided with video recorder in bow, when avoidance radar found within the scope of 20m other mobile objects close to when by automatic alarm,
Alarm is issued by loudspeaker, and the printed words such as display " public affair mapping, it is noted that evacuation " on LED display；To ambient
When body is in 10m of the present invention, the present invention will take anticollision measure automatically, stop surveying and drawing and sail out of course line to prevent from colliding,
And coordinate when stopping mapping being automatically recorded, auto-returned stops continuing to survey and draw at mapped point after danger is eliminated；The present invention exists
Entire navigation process whole process video recording, evidence obtaining when so that accident occurs.
(8) LED display of the invention is in bright screen state always, and mapping radar and GPS positioning system also not by
The influence at night, thus the present invention can round-the-clock implementation mapping operations, effectively increase mapping efficiency.
(9) present invention is provided with two kinds of propulsion modes, and one kind is that hydraulic jet propulsion and propeller promote, in mapping using spray
Water, which promotes, can be effectively reduced the influence for promoting noise to mapping precision, significantly improve mapping precision；It is in shallower water-area navigation
Ensure that propeller propulsion can be used in navigation safety, effectively improves the reliability of thrust power of the present invention.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.In the accompanying drawings:
Fig. 1 is top view of the present invention；
Fig. 2 is side view of the present invention；
Fig. 3 is sounding gear main view of the invention；
Fig. 4 is B-B cross-sectional view of the invention；
Fig. 5 is B of the invention ,-B, cross-sectional view；
Fig. 6 is the second connector main view of the invention；
Fig. 7 is front side sounding instrument main view of the invention；
Fig. 8 is front side sounding instrument side view of the invention.
Wherein: 1-hull, 2-front side sounding instruments, 3-rear side sounding instruments, 4-water injectors, 6-mapping radars, 7-
Mast, 8-wireless transmitter receiver devices, 9-loudspeakers, 10-avoidance radars, 11-LED displays, 12-video acquisition devices,
13-solar panels, 14-propeller sets, 15-GPS positioning systems, 16-first motors, the 17-the second motor,
18-screw rods, 19-long tooth wide gears, 20-mobile bars, 21-splines, 22-sleeves, 23-first gears, the 24-the second tooth
Wheel, 25-front sides centre sounding instrument, 26-front side side sounding instruments, 27-carrier bases, the 28-the first fastener, the 29-the second fastener
Specific embodiment
Hereinafter reference will be made to the drawings, describes technical solution of the present invention in detail by way of example.It needs to illustrate herein
, the descriptions of the manners of these embodiments are used to facilitate the understanding of the present invention, but and does not constitute a limitation of the invention.
The terms "and/or", only a kind of incidence relation for describing affiliated partner, indicates that there may be three kinds of passes
System, for example, A and/or B, can indicate: individualism A, individualism B exist simultaneously tri- kinds of situations of A and B, the terms
"/and " it is to describe another affiliated partner relationship, indicate may exist two kinds of relationships, for example, A/ and B, can indicate: individually depositing
In A, two kinds of situations of individualism A and B, in addition, character "/" herein, typicallying represent forward-backward correlation object is a kind of "or" pass
System.
Embodiment one
According to Fig. 1, a kind of sounding gear for mapping, including unmanned boat and sounding gear, the sounding gear
It is fixed on unmanned boat.The unmanned boat includes hull 1, master control set, power supply and dynamical system, cruising device, video acquisition
Device 12 and communication system；The master control set is filled by communication interface and power supply and dynamical system, cruising device, video acquisition
It sets 12, communication system to connect with sounding gear, the master control set is filled to power supply and dynamical system, cruising device, video acquisition
It sets 12, communication system and sounding gear sends control instruction and receives its information.The hull 1 uses double-layer structure, between interlayer
Filled and process can play sound insulation and anti-settling function, be provided with mast 7 on front side of 1 deck of hull.
As a kind of selection, the power supply and dynamical system include power module and propulsion die, the power module packet
Solar panel 13, battery group, diesel-driven generator are included, the battery component is not sent out with solar panel 13 and diesel oil
Motor connection；The solar panel 13 is arranged on the deck of hull 1, and solar panel 13 is provided with two pieces, size
Respectively 500*300mm and 800*200mm, operating voltage 16v, the battery group operating voltage are 16v.In the fine day sun
To implement to promote using the power supply of solar panel 13 in the case that illumination is sufficient, extra electricity is the battery charging,
The power supply of battery group, when solar panel 13 is without the normal direction battery charging, the diesel oil can be used in night when promoting
Power generation function is battery charging.
The propulsion die includes water injector 4 and propeller set 14.The water injector 4 and propeller set 14 are simultaneously
Column are arranged at 1 rear portion of hull.The water injector 4 includes water spray motor；The propeller set 14 includes propeller motor,
The water spray motor and propeller motor are connect with battery group.
According to Fig.2, the communication system includes wireless transmitter receiver device 8, GPS positioning system 15, LED display 11
With loudspeaker 9.The wireless transmitter receiver device 8, GPS positioning system 15, LED display 11 and loudspeaker 9 are and master control set
Connection.The wireless transmitter receiver device 8, GPS positioning system 15 and loudspeaker 9 are arranged at the top of mast 7；The LED is aobvious
Display screen 11 shares four pieces, is arranged in four sides of mast 7, and the LED display 11 has the function of showing subtitle.
As a kind of selection, the video acquisition device 12 is arranged on the deck of bow, the video acquisition device 12
It can be when unmanned boat navigates by water automatically to navigation channel water surface situation real-time recording.
Further, the cruising device includes avoidance radar 10 and mapping radar 6.The avoidance radar 10 is arranged in mast
The top of bar 7；On the deck of the setting of mapping radar 6 on the quarter.The mapping radar 6 can in real time to river both sides side
Mapping is implemented on slope, sends obtained slope height and slope angle information to master control set rapidly.
Embodiment two
The present embodiment place same as Example 1 repeats no more, institute the difference is that:
According to Fig.3, the sounding gear includes driving motor, depth measurement bracket and sounding instrument.The driving motor point
It is not connect with depth measurement bracket, battery group and master control set, the sounding instrument is fixed on depth measurement bracket.The driving motor packet
First motor 16 and the second motor 17 are included, the first motor 16 and the second motor 17 are independently arranged.The depth measurement bracket
Including screw rod 18, long tooth wide gear 19, mobile bar 20, first gear 23 and second gear 24.The long tooth wide gear 19 is transversal
Face is in gear-like, and the facewidth of the long tooth wide gear 19 is identical as the length of screw rod 18, the screw rod 18 and long tooth wide gear
19 parallel verticals are fixed on the topside of unmanned boat；The sounding instrument includes front side sounding instrument 2 and rear side sounding instrument 3 and front side depth measurement
Instrument 2 is identical with 3 structure of rear side sounding instrument.
As a kind of selection, the sounding instrument is preferably multibeam echosounder.
Further, the upper end of the screw rod 18 is connect with first motor 16,19 upper end of long tooth wide gear and this
The connection of two motors 17, the first motor 16 and the second motor 17 can drive screw rod 18 and long tooth wide gear 19 to rotate respectively；
The mobile bar 20 by the first connector and the second connector respectively with screw rod 18 and long tooth wide gear 19 is vertical connect.
According to Fig.4, first connector one end is spline 21, and the other end is connection sleeve 22；The spline 21
It is engaged with screw rod 18,22 internal diameter of connection sleeve is identical as 20 outer diameter of mobile bar.The first motor 16 is able to drive screw rod
18 rotations move up and down the mobile bar 20 along screw rod 18.
According to Fig. 5 and Fig. 6, second connector includes the first fastener 28 and the second fastener 29.First button
Part 28 and the second fastener 29 are in arc-shaped, and the arc radius of the first fastener 28 is identical as 19 radius of long tooth wide gear, and second
The arc radius of fastener 29 is identical as 20 radius of mobile bar, and first fastener 28 and second fastener 29 are bolted；Institute
Stating the second connector can be in close contact the long tooth wide gear 19 with mobile bar 20.
19 contact position of long tooth wide gear is provided with the first rack gear engaged with long tooth wide gear 19 in the mobile bar 20.
It is respectively arranged with the second rack gear on the upside of one end of the mobile bar 20 and on the downside of the other end, the company of engagement respectively at two the second rack gears
It is connected to first gear 23 and second gear 24；Be cased with respectively outside the first gear 23 and second gear 24 first gear shell and
Second gear shell, the first gear shell and second gear shell are separately fixed on the first connector and the second connector, described
Horizontal first rotating shaft and the second shaft, 23 He of first gear are respectively arranged with inside first gear shell and second gear shell
Second gear 24 is rotated rotating around first rotating shaft and the second shaft.The side of the first gear 23 and second gear 24 leads to respectively
Sounding instrument bracket is crossed to be fixedly connected with rear side sounding instrument 3 and front side sounding instrument 2.Long tooth is able to drive when the rotation of the second motor 17
The rotation of wide gear 19 moves horizontally mobile bar 20, and then makes front side sounding instrument 2 and rear side sounding instrument 3 while revolving round about
Turn；Front side sounding instrument 2 and rear side sounding instrument 3 are connect with master control set.
According to Fig. 7 and Fig. 8, the sounding instrument bracket includes carrier base 27 and cradling piece.The cradling piece is totally in
Rectangular-shaped, one end of cradling piece is fixedly connected with carrier base 27, and the other end is in trident shape, and there are four spiral shells for setting on carrier base 27
Nail hole.
The front side sounding instrument 2 includes the intermediate sounding instrument 25 in a front side and two front sides side sounding instrument 26, and rear side is surveyed
Deep instrument 3 includes the intermediate sounding instrument of a rear side and two rear side side sounding instruments.Sounding instrument 25 and front side side among the front side
Side sounding instrument 26 is separately fixed at the trident end；Two front sides side sounding instrument 26 is arranged in the intermediate sounding instrument in front side
25 both sides and respectively with front side among sounding instrument 25 at 50~70 degree of angles.
Embodiment three
The present embodiment is repeated no more with something in common in Examples 1 and 2, institute the difference is that:
A kind of application method of the sounding gear for mapping includes:
(1) sounding gear is installed to unmanned board, front side sounding instrument 2 and rear side sounding instrument 3 and master control set is connected
It connects.
(2) geographical location and the terrain information in river, the navigation to unmanned boat are obtained from the satellite map in river to be measured
Route is planned, and navigation route is inputted in cruise system.
(3) avoidance radar and LED screen are opened, the printed words such as LED screen real-time display " public affair mapping, it is noted that evacuation ", when keeping away
Barrier radar discovery around have barrier close to when can automatic alarm, starting loudspeaker issue " public affair mapping, it is noted that evacuation " etc.
Phonetic warning；Unmanned ship position is determined by GPS positioning system, and GPS positioning system and cruising device are cooperated, unmanned shipping agency is made
It sails to the starting point of mapping.
(4) master control set control first motor starting, makes mobile bar drop to appropriate depth.
(5) mapping radar is implemented to scan to river two sides side slope, and slope height and side slope angle are transferred to master control in time
Device, and river center line is determined by the scanning to two sides side slope, navigation route is further corrected, unmanned boat edge always is made
River center line navigation.
(6) master control set starts sounding instrument among the intermediate sounding instrument 25 in front side and rear side simultaneously, and surveying and mapping data is transmitted
To master control set；Master control set calculates the mean depth in riverbed by surveying and mapping data, and combines the angle of two sides side slope, calculates
The river riverbed width out.If riverbed width is greater than the wave beam angle of release covering of sounding instrument 25 and rear side centre sounding instrument among front side
When width, master control set starts front side side sounding instrument automatically and rear side side sounding instrument implements mapping, so that unmanned boat is primary
Navigation can map out the landform in entire riverbed.
(7) master control set calculates the angle of front side sounding instrument and rear side sounding instrument according to the river depth of water, makes front side depth measurement
The lap of the field angle of instrument and rear side sounding instrument covering is minimum, can effectively improve along river direction one-shot measurement width, and lead to
Cross the angle that the second electric motor starting of control changes front side sounding instrument and rear side sounding instrument.
(8) riverbed and the surveying and mapping data of side slope are sent to bank base mapping by wireless transmitter receiver device by master control set in time
It stands, surveying and mapping data is generated the three-dimensional land map in river by bank base mapping station.
As described above, can preferably realize the present invention, it is for a person skilled in the art, of the invention not departing from
These embodiments are changed in the case where principle and spirit, modifies, replace, integrating and modification still falls within protection of the invention
In range.The part for not carrying out specified otherwise or restriction in the present invention is all made of prior art implementation.
Claims (10)
1. a kind of sounding gear for mapping, including unmanned boat and sounding gear, the sounding gear are fixed on unmanned boat,
It is characterized in that, the unmanned boat includes hull (1), master control set, power supply and dynamical system, cruising device, video acquisition dress
Set (12) and communication system；Hull (1) uses double-layer structure, filled and process between interlayer；Mast is provided on front side of hull (1) deck
(7)。
2. a kind of sounding gear for mapping according to claim 1, which is characterized in that the power supply and dynamical system
Including power module and propulsion die；
The power module includes solar panel (13), battery group, diesel-driven generator；The battery component is not and too
Positive energy solar panel (13) connects with diesel-driven generator；The solar panel (13) is arranged on the deck of hull (1), too
Using solar panel (13) for electric propulsion when sunlight is according to abundance, extra electricity is battery charging；Using storage when night
Battery-powered propulsion, when solar panel (13) is without normal direction battery charging, diesel-driven generator is that battery group is filled
Electricity；
The propulsion die includes water injector (4) and propeller set (14), the water injector (4) and propeller set
(14) it is disposed in parallel in hull (1) rear portion.
3. according to claim 1 or a kind of 2 described in any item sounding gears for mapping, which is characterized in that the communication
System includes wireless transmitter receiver device (8), GPS positioning system (15), LED display (11) and loudspeaker (9)；The wireless hair
Receiver (8), GPS positioning system (15), LED display (11) and loudspeaker (9) is penetrated to connect with master control set；It is described wireless
Transceiver (8), GPS positioning system (15) and loudspeaker (9) are arranged at mast (7) top；The LED display (11)
It is arranged in mast (7) side, and can show subtitle；
The cruising device includes avoidance radar (10) and mapping radar (6), and avoidance radar (10) setting is pushed up in mast (7)
End, the mapping radar (6) are arranged on deck on the quarter；The mapping radar (6) can in real time to river both sides side slope
Implement mapping, and by the data transmission measured to master control set.
4. a kind of sounding gear for mapping according to claim 2, which is characterized in that the sounding gear includes passing
Dynamic motor, depth measurement bracket and sounding instrument；The driving motor is connect with depth measurement bracket, battery group and master control set respectively, institute
Sounding instrument is stated to be fixed on depth measurement bracket；
The driving motor includes the first motor (16) being independently arranged and the second motor (17)；The sounding instrument includes structure phase
Same front side sounding instrument (2) and rear side sounding instrument (3).
5. a kind of sounding gear for mapping according to claim 4, which is characterized in that the depth measurement bracket includes spiral shell
Bar (18), long tooth wide gear (19), mobile bar (20), first gear (23) and second gear (24)；The long tooth wide gear
(19) cross section is in gear-like, and the facewidth of the long tooth wide gear (19) is identical as the length of screw rod (18)；The screw rod (18)
The topside of unmanned boat is fixed on long tooth wide gear (19) parallel vertical.
6. a kind of sounding gear for mapping according to claim 5, which is characterized in that the upper end of the screw rod (18)
It is connect with first motor (16), long tooth wide gear (19) upper end is connect with the second motor (17), the first motor (16)
Screw rod (18) and long tooth wide gear (19) is driven to rotate respectively with the second motor (17).
7. a kind of sounding gear for mapping according to claim 5, which is characterized in that the mobile bar (20) passes through
First connector and the second connector respectively with screw rod (18) and long tooth wide gear (19) is vertical connect；
First connector one end is spline (21), and the other end is connection sleeve (22)；The spline (21) can be with screw rod
(18) it engages, connection sleeve (22) internal diameter is identical as mobile bar (20) outer diameter；The first motor (16) is able to drive spiral shell
Bar (18) rotation moves up and down mobile bar (20) along screw rod (18).
8. a kind of sounding gear for mapping according to claim 7, which is characterized in that second connector makes to grow
Facewidth gear (19) and mobile bar (20) are in close contact；It is provided on the mobile bar (20) with long tooth wide gear (19) contact position
The first rack gear engaged with long tooth wide gear (19)；
It is respectively arranged with the second rack gear on the upside of one end of the mobile bar (20) and on the downside of the other end, distinguishes at two the second rack gears
Engagement is connected with first gear (23) and second gear (24)；The first gear (23) and second gear (24) pass through survey respectively
Deep instrument bracket is fixedly connected with rear side sounding instrument (3) and front side sounding instrument (2)；
The sounding instrument bracket includes carrier base (27) and cradling piece, and one end and carrier base (27) of the cradling piece are fixed to be connected
It connects, the other end is in trident shape.
9. a kind of sounding gear for mapping according to claim 8, which is characterized in that the front side sounding instrument (2)
Including the intermediate sounding instrument (25) in a front side and two front side side sounding instruments (26), the rear side sounding instrument (3) includes one
Sounding instrument and two rear side side sounding instruments among rear side；Sounding instrument (25) and front side side sounding instrument (26) among the front side
It is separately fixed at trident end；Two front side side sounding instruments (26) are arranged in the both sides of the intermediate sounding instrument (25) in front side
And respectively with sounding instrument (25) among front side at 50~70 degree of angles.
10. a kind of application method of described in any item sounding gears for mapping, feature exist according to claim 1~9
In the application method includes:
1) sounding gear is installed to unmanned board, front side sounding instrument (2) and rear side sounding instrument (3) and master control set is connected
It connects；
2) geographical location and the terrain information that river is obtained from the satellite map in river to be measured, to the navigation route of unmanned boat into
Professional etiquette is drawn, and navigation route is inputted in cruise system；
3) avoidance radar (10) and LED screen are opened, makes LED screen real-time display " public affair mapping, it is noted that evacuation " printed words, works as avoidance
Radar (10) discovery around have barrier close to when automatic alarm, starting loudspeaker (9) issue " public affair mapping, it is noted that evacuation "
Phonetic warning；Unmanned ship position is determined by GPS positioning system (15), and GPS positioning system (15) and cruising device are cooperated,
Make unmanned foot to surveying and drawing starting point；
4) master control set control first motor (16) starting, makes mobile bar (20) drop to appropriate depth；
5) mapping radar (6) is implemented to scan to river two sides side slope, will measure slope height and side slope angle is transferred to master in time
Device is controlled, and river center line is determined by the scanning to two sides side slope, navigation route is further corrected, makes unmanned boat always
It is navigated by water along river center line；
6) master control set starts sounding instrument among the intermediate sounding instrument (25) in front side and rear side simultaneously, and surveying and mapping data is transmitted to master
Control device；Master control set calculates the mean depth in riverbed by surveying and mapping data, and combines the angle of two sides side slope, calculates river
Road riverbed width；If riverbed width is greater than the wave beam angle of release cover width of sounding instrument (25) and rear side centre sounding instrument among front side
When, master control set can start front side side sounding instrument (26) automatically and rear side side sounding instrument implements mapping, make unmanned boat one
Secondary navigation can map out the landform in entire riverbed；
7) master control set calculates the angle of front side sounding instrument (2) and rear side sounding instrument (3) according to the river depth of water, and passes through control
Second motor (17) starting changes the angle of front side sounding instrument (2) and rear side sounding instrument (3), makes front side sounding instrument (2) and rear side
The lap of the field angle covering of sounding instrument (3) is minimum, effectively improves along river direction one-shot measurement width；
8) master control set receives transmitter by signal and riverbed and the surveying and mapping data of side slope is sent to bank base mapping station, bank in time
Surveying and mapping data is generated the three-dimensional land map in river by base mapping station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811541882.7A CN109489639A (en) | 2018-12-17 | 2018-12-17 | A kind of sounding gear and its application method for mapping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811541882.7A CN109489639A (en) | 2018-12-17 | 2018-12-17 | A kind of sounding gear and its application method for mapping |
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| CN109489639A true CN109489639A (en) | 2019-03-19 |
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| CN201811541882.7A Pending CN109489639A (en) | 2018-12-17 | 2018-12-17 | A kind of sounding gear and its application method for mapping |
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