CN109541610A - Shallow sea water sound mapping system - Google Patents
Shallow sea water sound mapping system Download PDFInfo
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- CN109541610A CN109541610A CN201910021886.0A CN201910021886A CN109541610A CN 109541610 A CN109541610 A CN 109541610A CN 201910021886 A CN201910021886 A CN 201910021886A CN 109541610 A CN109541610 A CN 109541610A
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- underwater sound
- sound equipment
- sea water
- shallow sea
- unmanned boat
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- 238000013507 mapping Methods 0.000 title claims abstract description 25
- 239000013535 sea water Substances 0.000 title claims abstract description 21
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 23
- 238000004891 communication Methods 0.000 claims abstract description 9
- 238000005183 dynamical system Methods 0.000 claims abstract description 4
- 230000007246 mechanism Effects 0.000 claims description 9
- 230000003028 elevating effect Effects 0.000 claims description 8
- 230000004308 accommodation Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 8
- 230000008901 benefit Effects 0.000 abstract description 5
- 238000012876 topography Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000003651 drinking water Substances 0.000 description 1
- 235000020188 drinking water Nutrition 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Classifications
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- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
- G01S15/8902—Side-looking sonar
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
The invention discloses a kind of shallow sea water sound mapping systems: including unmanned boat platform and bank base control station；The unmanned boat platform includes hull, dynamical system, control system, communication system and task system；The bank base control station is operating platform；The task system includes several underwater sound equipments, and every underwater sound equipment all has the emersion water surface and protrudes into the two states in water.Of the invention can be according to the demand of job task, the underwater sound equipment that uses needed for making rational planning for and its use sequentially, after the completion of a kind of underwater sound equipment operation, the underwater sound equipment is packed up by bank base control station remote operation, and declines another underwater sound equipment and carry out operation, therefore the replacement of underwater sound equipment is not required to carry out the operation such as lifting by crane to unmanned boat platform, continuous continual working method can be achieved, the advantages of combining two kinds of Mapping Flats of existing someone's ship and unmanned boat, perfect in shape and function and by sea situation, shallow water topography limitation is small, equipment dependability is strong, it greatly improves work efficiency.
Description
Technical field
The present invention relates to marine charting technical fields, and in particular to arrives a kind of shallow sea water sound mapping system.
Background technique
As recorded in non-patent literature 1, marine charting is to obtain and describe the water bodys such as ocean, rivers, lake and encirclement water
The basic geographic elements of each object of body and its theory and technology of geometry and physical attribute information, are the one of Surveying Science and Technology
A important branch is all military oceans, scientific research of seas and develops and utilizes movable basis.Underwater sound equipment is as ocean
Essential equipment is surveyed and drawn, with ocean development and monitoring, the rapid development of scientific research of seas, is widely applied simultaneously
Great function is played.
Existing shallow sea water sound mapping system is divided into someone's ship and two kinds of unmanned boat.The former can carry a variety of underwater sounds and set
Standby, perfect in shape and function, but operating cost is high is limited larger by complicated sea situation, shallow water topography, and there is also one by operation on the sea personnel
Fixed security risk；The latter's tonnage is small, relatively flexibly, can substantially enter each setting, but generally only carry one kind
Underwater sound equipment, therefore have a single function, although other mapping equipments can be replaced, generally require ability after unmanned boat lifting disembarkation
It can replace, replacement difficulty is larger, and the frequent replacement of this external equipment can also reduce the performance and reliability of equipment.
Non-patent literature 1: Zhao Jianhu, wait marine charting state-of-the-art [J] survey and draw geography information, 2017,42
(6): 2-10.
Patent document 1:CN106598051A, a kind of flight tracking control method based on force vector.
Patent document 2:CN106444759A, a kind of automatic homeward method and system of unmanned boat.
Summary of the invention
In order to overcome the drawbacks described above of existing shallow sea water sound mapping system, its flexibility and versatility are improved, the present invention mentions
A kind of shallow sea water sound mapping system is supplied.
The technical solution adopted by the invention is as follows:
A kind of shallow sea water sound mapping system: including unmanned boat platform and bank base control station；The unmanned boat platform includes hull, moves
Force system, control system, communication system and task system；The bank base control station is operating platform, sends a command to the nothing
People's ship platform, and receive the feedback information of the unmanned boat platform；The task system includes several underwater sound equipments, every institute
Stating underwater sound equipment all has the emersion water surface and protrudes into the two states in water.
The beneficial effects of the present invention are: of the invention can use needed for making rational planning for according to the demand of job task
Underwater sound equipment and its using sequence, after the completion of a kind of underwater sound equipment operation, packs up the underwater sound by bank base control station remote operation and sets
It is standby, and decline another underwater sound equipment and carry out operation, therefore the replacement of underwater sound equipment is not required to the unmanned boat platform such as lift by crane
Operation is, it can be achieved that continuous continual working method, the advantages of combining two kinds of Mapping Flats of existing someone's ship and unmanned boat,
Perfect in shape and function and limited by sea situation, shallow water topography small, equipment dependability is strong, greatly improves work efficiency.
Preferred: the unmanned boat platform further includes intelligent navigation system.
Preferred: the underwater sound equipment includes mutually independent multibeam sounding system, side scan sonar and Sub-bottom profiler.
Preferred: the task system further includes crane, and the crane drives the underwater sound equipment in two states
Middle switching.
Preferred: the crane includes being mounted on the hull upper holder, is equipped with elevator on the fixed frame
Structure, the elevating mechanism drive the underwater sound equipment lifting, and the fixed frame can move on the hull.
Preferred: the elevating mechanism includes adjustable shelf, lifting push rod and lifting guide pillar, and the lifting push rod is arranged in institute
It states between fixed frame and adjustable shelf, the lifting guide pillar upper end connects the adjustable shelf, the underwater sound equipment, middle part are installed in lower end
It slides and is oriented to the fixed frame.
Preferred: the hull is equipped with the notch penetrated through with the water surface, and the two sides of the notch are equipped with guide rail, the fixation
The idler wheel cooperated with the guide rail is equipped with below frame.
It is preferred: fixing seat to be set below the fixed frame, the fixing seat is hinged overturning seat, is used for the fixed frame
Overturning and fixation.
Preferred: the lower section of the fixed frame is equipped with the accommodation space of the underwater sound equipment.
Preferred: the hull is diafloat tank ship, and the task system is mounted on the connecting bridge of the diafloat tank ship
On.
Detailed description of the invention
Fig. 1 is the block diagram of the embodiment of the present invention.
Fig. 2 is the schematic diagram of unmanned boat platform in the embodiment of the present invention.
Fig. 3 is the top view of unmanned boat platform in the embodiment of the present invention.
Fig. 4 is the schematic diagram of task system in the embodiment of the present invention.
Fig. 5 is the schematic diagram of crane in the embodiment of the present invention.
Fig. 6 is the schematic diagram after crane fell in the embodiment of the present invention.
Fig. 7 is the schematic diagram of fixing seat in the embodiment of the present invention.
Unmanned boat platform 1, bank base control station 2, hull 101, dynamical system 102, control system 103, communication system 104,
Task system 105, underwater sound equipment 106, intelligent navigation system 107, crane 108, fixed frame 109, adjustable shelf 110, lifting push away
Bar 111, lifting guide pillar 112, notch 113, guide rail 114, idler wheel 115, fixing seat 116.
Specific embodiment
The invention will be further described with embodiment with reference to the accompanying drawing.
In embodiment, as shown in Fig. 1 ~ 7, a kind of shallow sea water sound mapping system: including unmanned boat platform 1 and bank base control station
2；The unmanned boat platform 1 includes hull 101, dynamical system 102, control system 103, communication system 104 and task system
105；The bank base control station 2 is operating platform, sends a command to the unmanned boat platform 1, and receive the unmanned boat platform 1
Feedback information；The task system 105 includes several underwater sound equipments 106, and every underwater sound equipment 106 all has emersion
The water surface and protrude into the two states in water.The present embodiment can use needed for making rational planning for according to the demand of job task
Underwater sound equipment 106 and its using sequence, after the completion of a kind of 106 operation of underwater sound equipment, is remotely operated to rise by bank base control station 2 and be received
The underwater sound equipment 106 is played, and declines another underwater sound equipment 106 and carries out operation, therefore the replacement of underwater sound equipment 106 is not required to nothing
People's ship platform 1 such as lifts by crane, dismantles at the operation, it can be achieved that continuous continual working method, combine existing someone's ship and
The advantages of two kinds of Mapping Flats of unmanned boat, perfect in shape and function and limited by sea situation, shallow water topography small, equipment dependability is strong, mentions significantly
High working efficiency.
In embodiment, as shown in Fig. 1 ~ 3: the communication system 104 of bank base control station 2 and unmanned boat platform 1 can choose net
The modes such as bridge, radio station, effective communication distance can reach 5km, and can guarantee preferable communication quality, be able to satisfy substantially close
The demand that sea, shallow sea are surveyed and drawn.There are two functions for the tool of control system 103, first is that the normal/cruise of hull 101 is controlled, second is that control
The movement of underwater sound equipment 106.On boat-carrying industrial personal computer, bank base control station 2 passes through long-range the software installation of all underwater sound equipments 106
The mode of desktop is operated.
In embodiment, when using underwater sound equipment 106, corresponding operation: bank need to be only carried out on bank base control station 2
Base control station 2 issues the corresponding instruction (navigation that the opening and closing of equipment power supply, the setting of device parameter and change, unmanned boat are planned
Route etc.), control system 103 is received to instruct and instruction is passed to corresponding mechanism and be executed；Underwater sound equipment 106 is adopted simultaneously
The data of collection reach bank base control station 2 by communication system 104, operator can observation device in real time operating condition.
In embodiment, the unmanned boat platform 1 further includes intelligent navigation system 107 as shown in Figure 1:.The intelligence of this implementation
Navigation system 107 can refer to the content in patent document 1 and patent document 2, has and accurately cruises and automatic homeward two by track
Kind function, to realize the intelligence navigation of unmanned boat platform 1.
In embodiment, as shown in Fig. 2 ~ 4: the underwater sound equipment 106 is swept including mutually independent multibeam sounding system, side
Sonar and Sub-bottom profiler.Multibeam sounding system is using more primitive acoustic transducer battle arrays and extensive angle emits and reception technique,
The high density bathymetric data for forming wide vertically hung scroll can accurately and quickly measure the big of along the one fixed width of course line submarine target
The fine-feature of small, shape and sea-floor relief；The data acquisition very dense of multibeam sounding system, according to a certain percentage ruler
The three-dimensional graph drawn out can make the bottom reach effect of visualization interior on a large scale, can be greatly improved to water-bed target and landform
The degree of awareness, be widely used in bathymetric surveying, submerged pipeline route exploration, submerged pipeline state detection, water-bed mesh
In the engineerings such as mark search.Side scan sonar has many advantages, such as that high resolution, reflection Submarine Geomorphic Features are thorough, can efficiently sweep survey mesh
Region is marked, water-bed acoustics image is acquired, even lesser object and works, side scan sonar can also clearly indicate out it
Details, be at this stage wire drag survey, emergence measuring, sweep survey barrier important means, and at present find underwater obstacle most
One of effective method；Side scan sonar can be used for the Route Surveys such as acquisition, underwater cable, the pipeline of underwater topography image, bridge pier,
The underwater hydro-structure inspection such as dam.Sub-bottom profiler is the ideal work to the following deposit in seabed or rock identification and classification
Tool is the effective tool for studying each layer formation in seabed and its thickness, commonly used in geological prospecting, dredging operation and positioning water
Bottom object (pipeline such as buried).The present embodiment can be remotely operated according to the demand of job task by bank base control station 2, choosing
Certain underwater sound equipment 106 is dropped to water surface following operations by selecting property, and be substantially able to satisfy that shallow sea water sounding draws is all
Demand.
In embodiment, as shown in Fig. 2 ~ 4: the task system 105 further includes crane 108, and the crane 108 drives
The underwater sound equipment 106 switches in two states.The crane 108 of the present embodiment switches the state of underwater sound equipment 106 very
It is convenient, the water surface can be left when underwater sound equipment 106 does not work, and reduce the impaired probability of equipment, and can also prevent the different underwater sounds and set
Interfering with each other between standby 106.
In embodiment, as shown in Fig. 2 ~ 4: the crane 108 includes being mounted on 101 upper holder 109 of hull, institute
It states and elevating mechanism is installed on fixed frame 109, the elevating mechanism drives the underwater sound equipment 106 to go up and down, the fixed frame 109
It can be moved on the hull 101.The crane 108 of the present embodiment can not only drive underwater sound equipment 106 to go up and down, moreover it is possible to drive water
Acoustic equipment 106 is mobile, convenient for adjusting position or other adjustment of underwater sound equipment 106, increases the versatility and practicability of equipment.
In embodiment, as shown in Fig. 2 ~ 4: the elevating mechanism includes adjustable shelf 110, lifting push rod 111 and lifting guide pillar
112, the lifting push rod 111 is arranged between the fixed frame 109 and adjustable shelf 110,112 upper end of the lifting guide pillar connection
The adjustable shelf 110, lower end are installed the underwater sound equipment 106, middle part and the fixed frame 109 sliding and are oriented to.The present embodiment
Lifting guide pillar 112 has two, and the two sides of lifting push rod 111 are arranged in, first is that the installation of underwater sound equipment 106 is than stronger, second is that
Stress is more balanced.Lifting push rod 111 can make to be the devices such as cylinder, hydraulic cylinder, electric pushrod, good with stability, convenient for real
Now automatically controlling is advisable.
In embodiment, as shown in Fig. 2 ~ 4: the hull 101 is equipped with the notch 113 penetrated through with the water surface, the notch 113
Two sides be equipped with guide rail 114, the idler wheel 115 cooperated with the guide rail 114 is equipped with below the fixed frame 109.The present embodiment
For realizing the movement of fixed frame 109, the mode of track is relatively labor-saving for idler wheel 115 and guide rail 114, and has certain position
Restriction effect is set, avoids fixed frame 109 that horizontal looseness occurs.
In embodiment, as shown in Fig. 5 ~ 7: the lower section of the fixed frame 109 sets fixing seat 116, and the fixing seat 116 is hinge
Overturning seat is connect, the overturning and fixation for the fixed frame 109.The fixing seat 116 of the present embodiment is solid by dismountable bolt
It is scheduled on hull 101, thus realize being fixed temporarily for fixed frame 109, and the form of hinged overturning seat, so that fixed frame 109 has
Rollover states shown in fig. 6, consequently facilitating the maintenance or maintenance of underwater sound equipment 106.
In embodiment, as shown in Fig. 5 ~ 6: the receiving that the lower section of the fixed frame 109 is equipped with the underwater sound equipment 106 is empty
Between.There are four long legs for the tool of fixed frame 109 of the present embodiment, across the two sides of notch 113, and a water are formed between long leg
106 accommodation space of acoustic equipment stays in this position after the rise of underwater sound equipment 106, such as two, left side underwater sound equipment in Fig. 5
Shown in 106, so that underwater sound equipment 106 is accommodated in hull completely, avoid exposed receiving damage.
In embodiment, as shown in Fig. 2 ~ 3: the hull 101 is diafloat tank ship, and the task system 105 is mounted on institute
In the connecting bridge for stating diafloat tank ship.Unmanned boat platform uses electric propulsion system, is easy to implement remote auto control, using can
The reserve battery of replacement has longer cruising ability.Particularly, diafloat tank ship stability itself is good, and notch 113 is arranged
In connecting bridge, setting is not needed alow, therefore to the change very little of ship type, furthermore the energy when not working of underwater sound equipment 106
It as far as possible far from the water surface, avoids being damaged, therefore carrier of the diafloat tank ship as the present embodiment task system 105, have apparent
Advantage.
The diafloat tank ship that the present embodiment is selected, basic parameter are as follows:
Material: aluminium alloy；
Captain: 7.6m；
The beam: 2.6m；
Moldeed depth: 0.63m；
Drinking water: 0.40m；
The speed of a ship or plane: 8kn(design speed), the speed of a ship or plane can be adjusted at any time according to the requirement of the underwater sound equipment of carrying when operation；
Cruising ability: 6 hours, replacement battery life doubled.
This type of diafloat tank ship flexibility is good and has certain wind and wave resistance energy, is used as shallow sea water sound mapping system, complete
The requirement of mapping operation all can be met.
Obviously, the above embodiment of the present invention is intended to be merely illustrative of the present example, and not to the present invention
Embodiment restriction.For those of ordinary skill in the art, it can also make on the basis of the above description
Other various forms of variations or variation.There is no need and unable to give poor example to all embodiments.And these belong to this
The connotation changes and variations that derived from of invention still fall within protection scope of the present invention.
Claims (10)
1. a kind of shallow sea water sound mapping system, it is characterised in that: including unmanned boat platform (1) and bank base control station (2)；
The unmanned boat platform (1) includes hull (101), dynamical system (102), control system (103), communication system (104)
And task system (105)；
The bank base control station (2) is operating platform, sends a command to the unmanned boat platform (1), and receive the unmanned boat
The feedback information of platform (1)；
The task system (105) includes several underwater sound equipments (106), and every underwater sound equipment (106) all has emersion
The water surface and protrude into the two states in water.
2. shallow sea water sound mapping system according to claim 1, it is characterised in that: the unmanned boat platform (1) further includes
Intelligent navigation system (107).
3. shallow sea water sound mapping system according to claim 1, it is characterised in that: the underwater sound equipment (106) includes phase
Mutual independent multibeam sounding system, side scan sonar and Sub-bottom profiler.
4. shallow sea water sound mapping system according to claim 1, it is characterised in that: the task system (105) further includes
Crane (108), the crane (108) drive the underwater sound equipment (106) to switch in two states.
5. shallow sea water sound mapping system according to claim 4, it is characterised in that: the crane (108) includes installation
Elevating mechanism is installed on the hull (101) upper holder (109), the fixed frame (109), the elevating mechanism drives
Underwater sound equipment (106) lifting, the fixed frame (109) can move on the hull (101).
6. shallow sea water sound mapping system according to claim 5, it is characterised in that: the elevating mechanism includes adjustable shelf
(110), lifting push rod (111) and lifting guide pillar (112), lifting push rod (111) setting is the fixed frame (109) and living
Between moving frame (110), lifting guide pillar (112) upper end connects the adjustable shelf (110), the underwater sound equipment is installed in lower end
(106), middle part and the fixed frame (109) sliding are oriented to.
7. shallow sea water sound mapping system according to claim 4, it is characterised in that: the hull (101) is equipped with and water
The notch (113) of face perforation, the two sides of the notch (113) are equipped with guide rail (114), be equipped with below the fixed frame (109) with
The idler wheel (115) of guide rail (114) cooperation.
8. shallow sea water sound mapping system according to claim 8, it is characterised in that: set below the fixed frame (109)
Fixing seat (116), the fixing seat (116) are hinged overturning seat, are used for the overturning and fixation of the fixed frame (109).
9. shallow sea water sound mapping system according to claim 8, it is characterised in that: set below the fixed frame (109)
There is the accommodation space of the underwater sound equipment (106).
10. shallow sea water sound mapping system according to claim 1, it is characterised in that: the hull (101) is diafloat tank
Ship, the task system (105) are mounted in the connecting bridge of the diafloat tank ship.
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| CN201910021886.0A CN109541610A (en) | 2019-01-10 | 2019-01-10 | Shallow sea water sound mapping system |
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| CN201910021886.0A CN109541610A (en) | 2019-01-10 | 2019-01-10 | Shallow sea water sound mapping system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114185079A (en) * | 2021-11-22 | 2022-03-15 | 武汉船舶通信研究所（中国船舶重工集团公司第七二二研究所） | Underwater three-dimensional detection system |
| CN117125192A (en) * | 2023-08-28 | 2023-11-28 | 广东工贸职业技术学院 | Marine marine underwater mapping equipment based on intelligent unmanned ship |
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