CN111189435A - Arm-hanging and dragging type water depth measuring system and method - Google Patents
Arm-hanging and dragging type water depth measuring system and method Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 16
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- 238000012545 processing Methods 0.000 claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims abstract description 25
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 8
- 229910052744 lithium Inorganic materials 0.000 claims description 8
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 5
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- 125000006850 spacer group Chemical group 0.000 claims 2
- 238000005516 engineering process Methods 0.000 description 10
- 238000009434 installation Methods 0.000 description 6
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000002360 preparation method Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
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- 208000028257 Joubert syndrome with oculorenal defect Diseases 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
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- 238000005260 corrosion Methods 0.000 description 1
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- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
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- 238000013507 mapping Methods 0.000 description 1
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- 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
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Abstract
The invention discloses an arm-hung towing type water depth measuring system and method, comprising a mother ship and a son ship, wherein the mother ship is provided with a processing computer and an underwater propeller unit; the sub-ship is provided with an underwater measuring unit and an overwater positioning unit, a groove is formed in the sub-ship, a fixed base is installed at the head of the sub-ship, and a connecting groove is formed in the middle of the fixed base; the processing computer is respectively connected with the underwater measuring unit and the water positioning unit through transmission cables, and receives return signals of the underwater measuring unit and the water positioning unit through the transmission cables; the underwater propeller unit is connected to the tail of the mother ship and provides power for the mother ship; the underwater measuring unit is fixed in the groove of the sub-ship; the water positioning unit is fixed at the upper end of the hull of the sub-ship through a connecting rod; and an arm hanging linkage device is connected between the mother ship and the son ship. The invention adopts the combination of the mother ship and the son ship and is matched with the arm-hanging linkage device to realize the simple and high-efficiency water depth measurement of inland rivers, lakes and other shallow water areas.
Description
Technical Field
The invention relates to an arm-hung dragging type water depth measurement system and method, and belongs to the technical field of measurement.
Background
At present, the shipborne modes of the water depth measurement technology mainly comprise two modes: firstly, the ship is carried by people, the technology is gradually mature and perfect after ten years of continuous development, and the product has strong stability and high reliability; and secondly, the unmanned ship is carried, and through the development of recent years, the unmanned ship can carry a depth measurement sensor to carry out a terrain measurement task, has the characteristics of small volume, low operation cost, strong maneuverability and the like, and has huge potential in the field of water surveying and mapping.
At present, the depth measuring technology and system carried by a ship are perfect and mature, but the following problems still exist: the installation and disassembly of the instrument before the preparation of measurement is time-consuming and labor-consuming; important technical parameters of draft value of the underwater measurement unit, height of the overwater positioning unit from the water surface and distance between the overwater positioning unit and the plane space position of the underwater measurement unit are measured again and manually input according to installation conditions before each measurement; meanwhile, the ship renting expense occupies higher project cost; the manned ship carried depth measurement technology is limited by the weight of a ship body to have deep draft, is suitable for working in open water areas with deep water depth and is not suitable for shallow water areas with deep water depth.
At present, the unmanned ship-carried depth measurement technology is still not mature, measurement in a water area with complex terrain is dangerous to carry out, and a wireless transmission mode between a ship body and a shore station is delayed, so that the ship body is stranded, reefs are touched, obstacles collide, and the maintenance and salvage cost of the ship body is increased; the product market price of the unmanned ship carrying the depth measurement technology is higher, a lithium battery is generally used as a propeller unit, the battery endurance is insufficient, and the working efficiency is influenced.
In summary, it is necessary to provide a new water depth measurement solution to solve the above-mentioned problems in the prior art.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a boom-mounted towed water depth measurement system and method, which are used for realizing simple and efficient water depth measurement of inland rivers, lakes and other shallow water areas by combining a mother ship and a son ship and matching a boom linkage device.
The technical scheme for solving the technical problems is as follows: an arm-hung towing type water depth measuring system comprises a mother ship and a son ship, wherein the mother ship is loaded with a processing computer and an underwater propeller unit; the sub-ship is provided with an underwater measuring unit and an overwater positioning unit, a groove is formed in the sub-ship, a fixed base is installed at the head of the sub-ship, and a connecting groove is formed in the middle of the fixed base;
the processing computer is respectively connected with the underwater measuring unit and the water positioning unit through transmission cables, and receives return signals of the underwater measuring unit and the water positioning unit through the transmission cables;
the underwater propeller unit is connected to the tail of the mother ship and provides power for the mother ship;
the underwater measuring unit is fixed in the groove of the sub-ship, and the bottom of the transducer of the underwater measuring unit is parallel to the bottom of the sub-ship;
the overwater positioning unit is fixed at the upper end of the hull of the sub-ship through a connecting rod;
and an arm hanging linkage device is connected between the mother ship and the son ship, the arm hanging linkage device is provided with a linkage hook, one end of the arm hanging linkage device is fixed on the ship body of the mother ship, and the other end of the arm hanging linkage device is connected with the connecting groove by a screw rod through the linkage hook.
As a preferred scheme of the arm-hung towing type water depth measuring system, the mother ship is also provided with a mobile power supply, the mobile power supply is fixed in the middle of the mother ship and is used for supplying power to the processing computer, the underwater measuring unit and the underwater positioning unit.
As a preferred scheme of the arm-hung towing type water depth measuring system, the arm-hung linkage device further comprises a telescopic connecting rod, a linkage shaft sleeve and a linkage rod; one end of the telescopic connecting rod is fixed at the upper end of the mother ship, the telescopic connecting rod extends to the outer side of the ship body of the mother ship, and the linkage shaft lever is formed at the tail end of the telescopic connecting rod; the side part of the linkage shaft sleeve is connected with the linkage rod, and the linkage shaft rod is inserted into the linkage shaft sleeve; the linkage rod is connected with the linkage hook.
The arm-hung towing type water depth measuring system further comprises a cushion block and a fixing bolt, wherein a fastening internal thread is formed at the tail end of the linkage shaft rod, a matching port is formed in the center of the cushion block, and the fixing bolt is screwed with the fastening internal thread through the matching port; the cushion blocks are blocked outside the linkage shaft sleeve.
As the preferable scheme of the arm-hung towing type water depth measuring system, two buckles are arranged at the connection part of the telescopic connecting rod and the mother ship and fixed on the mother ship through bolts.
As a preferred scheme of the arm-hung towing type water depth measuring system, the hull of the mother ship adopts an inflatable ship; the hull of the sub-ship is made of EVA material; the arm hanging linkage device is made of aluminum metal; the underwater propeller unit adopts a gasoline underwater propeller.
As a preferable scheme of the arm-hung towing type water depth measuring system, the distance between the processing computer and the underwater propeller unit is less than 1 m, and an operation area is formed between the processing computer and the underwater propeller unit.
As a preferable scheme of the arm-hung and towed type water depth measuring system, a lithium battery is arranged in the above-water positioning unit, and the above-water positioning unit is integrated with a satellite navigation positioning chip TeseoIII for receiving GPS, GLONASS, GALILEO and Beidou satellite signals.
As a preferred scheme of the arm-hung towing type water depth measuring system, the transmission cable is connected with the top end of the transducer of the underwater measuring unit, and the connection part of the transmission cable and the underwater measuring unit is vulcanized and sealed; the water positioning unit is fixed right above the transducer of the underwater measuring unit through a connecting rod.
The invention also provides an arm-mounted towing type bathymetric survey method, which adopts the arm-mounted towing type bathymetric survey system and comprises the following steps:
presetting the draft h of the vessel1Transducer bottom of underwater measurement unitDistance h to bottom of ship2Height h of hull of sub-ship3Height h of connecting rod between positioning unit on water and hull of sub-ship4；
Draft value H of underwater measurement unit1Draft h of ═ ship1The distance h from the bottom of the transducer of the underwater measuring unit to the bottom of the daughter vessel2；
Height H of water positioning unit from water surface2Hull height h of the boat3-daughter ship draft h1+ height h of connecting rod between underwater positioning unit and hull of sub-ship4；
Obtaining return signals of the positioning unit and the underwater measuring unit on the water, and calculating the distance H from the underwater measuring unit to the water bottom and the position coordinate (X) of the underwater measuring unit according to the return signalsUnderwater measuring unit，YUnderwater measuring unit，ZUnderwater measuring unit)；
According to the distance H from the underwater measuring unit to the water bottom and the position coordinate (X) of the underwater measuring unitUnderwater measuring unit，YUnderwater measuring unit，ZUnderwater measuring unit) Displaying the track S and the underwater elevation H of the sub-ship by processing a computerWater bottom；
HWater bottom＝ZUnderwater measuring unit-H-H1-H2；
Position coordinates (X) of underwater measurement unit for track SUnderwater measuring unit，YUnderwater measuring unit) The track S is expressed by sequentially corresponding position coordinates (X) of the underwater measuring unitUnderwater measuring unit，YUnderwater measuring unit) Connecting the lines, and displaying the water bottom elevation H on the track SWater bottom。
The technical scheme of the invention adopts the matching operation of the mother ship and the son ship, has simple installation and disassembly, strong portability, shallow draft and cost saving; the power of the underwater propeller unit of the mother ship is provided by gasoline, so that the underwater propeller unit is more durable than a lithium battery, has enough endurance and has longer effective working time; when the ship works in a water area with complex terrain, the ship direction and the ship speed of the mother ship can be manually adjusted in real time, and the length of the telescopic connecting rod can be adjusted to avoid obstacles, so that the grounding and reef touch risks are greatly reduced, and the ship can be used for inland rivers, lakes and other shallow water areas;
compared with a wireless transmission mode of a depth measurement technology carried by an unmanned ship, the underwater measuring unit and the water positioning unit carried by a sub-ship are connected by the processing computer in a wired transmission mode, so that the underwater measuring unit and the water positioning unit are more stable;
compared with equipment carrying depth measurement technology by a manned ship, the equipment is simple and convenient to install and prepare, the draft value of the underwater measurement unit, the height difference between the overwater positioning unit and the water surface and the important technical parameter values of the relative positions of the overwater positioning unit and the underwater measurement unit are fixed, and repeated measurement errors are avoided;
the arm-hung linkage device enables the sub-ship to freely move along the water surface heaving direction in the measuring process, the bow of the sub-ship is consistent with that of the mother ship, the ship speed direction is synchronous with that of the mother ship in the navigation process, and vibration propagation is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
Fig. 1 is a schematic structural diagram of an arm-mounted towed bathymetric survey system provided in an embodiment of the present invention;
FIG. 2 is a schematic view of a sub-ship of the boom towing type bathymetric survey system provided in the embodiment of the present invention;
FIG. 3 is an exploded view of an arm linkage of the arm-drag type water depth measuring system according to an embodiment of the present invention;
fig. 4 is a schematic view of welding a linkage shaft sleeve and a linkage rod in the arm hanging linkage device provided in the embodiment of the present invention.
In the figure, 1, a mother ship; 2. a child boat; 3. processing the computer; 4. an underwater propeller unit; 5. an underwater measurement unit; 6. an overwater positioning unit; 7. a groove; 8. a fixed base; 9. an arm-hanging linkage; 10. linkage hooks; 11. a mobile power supply; 12. a telescopic connecting rod; 13. a linkage shaft lever; 14. a linkage shaft sleeve; 15. a linkage rod; 16. buckling; 17. cushion blocks; 18. fixing the bolt; 19. fastening the internal thread; 20. a mating port; 21. a connecting rod; 22. a transmission cable; 23. and (6) connecting the grooves.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 and 2, an arm-mounted towing type water depth measuring system is provided, which comprises a mother ship 1 and a son ship 2, wherein the mother ship 1 carries a processing computer 3 and an underwater propeller unit 4; the sub-ship 2 is provided with an underwater measuring unit 5 and an overwater positioning unit 6, a groove 7 is formed in the sub-ship 2, a fixed base 8 is installed at the head of the sub-ship 2, and a connecting groove 23 is formed in the middle of the fixed base 8;
the processing computer 3 is respectively connected with the underwater measuring unit 5 and the water positioning unit 6 through transmission cables 22, and the processing computer 3 receives return signals of the underwater measuring unit 5 and the water positioning unit 6 through the transmission cables 22;
the underwater propeller unit 4 is connected to the tail part of the mother ship 1, and the underwater propeller unit 4 provides power for the mother ship 1;
the underwater measuring unit 5 is fixed in a groove 7 of the sub-ship 2, and the bottom of a transducer of the underwater measuring unit 5 is parallel to the bottom of the sub-ship 2;
the above-water positioning unit 6 is fixed at the upper end of the hull of the sub-ship 2 through a connecting rod 21;
an arm hanging linkage device 9 is connected between the mother ship 1 and the son ship 2, a linkage hook 10 is arranged on the arm hanging linkage device 9, one end of the arm hanging linkage device 9 is fixed on the ship body of the mother ship 1, and the other end of the arm hanging linkage device 9 is connected with the connecting groove 23 through a screw rod through the linkage hook 10.
In an embodiment of the boom-towing type bathymetric surveying system, the mother ship 1 further carries a mobile power supply 11, the mobile power supply 11 is fixed in the middle of the mother ship 1, and the mobile power supply 11 is used for supplying power to the processing computer 3, the underwater surveying unit 5 and the underwater positioning unit. The mobile power supply 11 outputs an alternating voltage of 220V, which can supply power to the processing computer 3, and the mobile power supply 11 can also supply power to the underwater measurement unit 5 and the underwater positioning unit through the transmission cable 22. The portable power source 11 is fixed in the middle part of mother ship 1, and because portable power source 11 itself is heavier, places the middle part of mother ship 1 and avoids increasing the stability of mother ship 1, avoids the hull unstability.
Referring to fig. 3 and 4, in an embodiment of the boom towing type water depth measuring system, the boom linkage 9 further includes a telescopic link 12, a linkage shaft 13, a linkage shaft sleeve 14 and a linkage rod 15; one end of the telescopic connecting rod 12 is fixed at the upper end of the mother ship 1, two buckles 16 are arranged at the connection part of the telescopic connecting rod 12 and the mother ship 1, the buckles 16 are fixed on the mother ship 1 through bolts, and the telescopic connecting rod 12 extends to the outer side of the ship body of the mother ship 1; the link shaft 13 is formed at the end of the telescopic link 12; the side part of the linkage shaft sleeve 14 is connected with the linkage rod 15, and the linkage shaft rod 13 is inserted into the linkage shaft sleeve 14; the linkage rod 15 is connected with the linkage hook 10.
Specifically, telescopic connecting rod 12 can be dismantled and be the multistage single section, convenient transportation, and telescopic connecting rod 12 of single section adopts nested mode, perhaps connects through the screw thread screw rod structure between the single section, and telescopic connecting rod 12 can realize length adjustment, and then can adjust the interval of mother ship 1 and son ship 2 according to the demand. The flexible connection between the linkage shaft lever 13 and the linkage shaft sleeve 14 ensures that the telescopic connecting rod 12 can rotate relative to the secondary ship 2, ensures the synchronous stability of the primary ship 1 and the secondary ship 2 in the navigation process, and ensures that the secondary ship 2 freely moves along the water surface heaving direction in the measuring process.
Specifically, the linkage shaft lever comprises a cushion block 17 and a fixing bolt 18, wherein a fastening internal thread 19 is formed at the tail end of the linkage shaft lever 13, a matching port 20 is formed at the center of the cushion block 17, and the fixing bolt 18 is screwed with the fastening internal thread 19 through the matching port 20; the cushion block 17 blocks the outside of the linkage shaft sleeve 14. The tail end of the linkage shaft rod 13 extends out after being inserted into the linkage shaft sleeve 14, is in butt joint with a matching port 20 of the cushion block 17 and is fastened by a fixing bolt 18, and the linkage shaft rod 13 is prevented from being separated from the linkage shaft sleeve 14.
In one embodiment of the arm-hung towing type bathymetric survey system, the hull of the mother ship 1 adopts an inflatable ship; the hull of the sub-ship 2 is made of EVA material; the arm hanging linkage device 9 is made of aluminum metal; the underwater propeller unit 4 adopts a gasoline underwater propeller. The size of the hull of the mother ship 1 can be flexibly designed according to the bearing total weight, and the hull is inflatable and convenient to compress and transport. The hull of the sub-ship 2 is preferably an EVA floating body, and has good flexibility, shock resistance, skid resistance and strong pressure resistance. The aluminum metal arm hanging linkage device 9 ensures the strength of the arm hanging linkage device 9 when the sub-ship 2 is dragged to operate, and meanwhile, the aluminum metal arm hanging linkage device has good corrosion resistance and long service life. Compared with the traditional lithium battery, the gasoline propulsion is adopted, the durability is longer, the endurance is sufficient, and the effective working time is longer.
In one embodiment of the boom-towing type bathymetric surveying system, the processing computer 3 and the underwater propulsion unit 4 are spaced apart by less than 1 meter, and an operation area is formed between the processing computer 3 and the underwater propulsion unit 4. The control personnel can check the returned image in real time in the operation area conveniently and correct the ship speed and the ship direction of the ship body in time.
In an embodiment of the arm-hung towed bathymetric survey system, a lithium battery is disposed in the above-water positioning unit 6, and the above-water positioning unit 6 is integrated with a satellite navigation positioning chip TeseoIII for receiving GPS, GLONASS, GALILEO and beidou satellite signals. The overwater positioning unit 6 collects space coordinates of the hull of the sub-ship 2 in a real-time geographic coordinate system during movement, supports receiving GPS, GLONASS, GALILEO and Beidou satellite signals, can realize differential calculation with a CORS base station, achieves centimeter-level errors of plane and elevation precision, is supplied with working power by a lithium battery, is embedded in a signal receiving device, can be detachably charged, and is good in sealing and waterproof performance.
Specifically, the TeseoIII integrates a radio frequency unit (RF), a digital controller and a flash memory on a single chip, and can simultaneously track a plurality of different satellite positioning systems. TeseoIII may provide excellent positioning accuracy. TeseoIII combines high positioning accuracy, strong processing performance and excellent design flexibility.
In one embodiment of the boom towing bathymetry system, the transmission cable 22 is connected to the top end of the transducer of the underwater measurement unit 5, and the connection between the transmission cable 22 and the underwater measurement unit 5 is vulcanized and sealed. The transmission cable 22 provides working power for the underwater measurement unit 5, transmits return signals of the underwater measurement unit 5 and the overwater positioning unit 6, and ensures that the transmission cable 22 is suitable for field operation environment due to vulcanization sealing, and has strong waterproof property.
In the technical scheme of the invention, a mother ship 1 is provided with a processing computer 3 and an underwater propeller unit 4; the sub-ship 2 is provided with an underwater measuring unit 5 and an overwater positioning unit 6, a groove 7 is formed in the sub-ship 2, a fixed base 8 is installed at the head of the sub-ship 2, and a connecting groove 23 is formed in the middle of the fixed base 8. The processing computer 3 is respectively connected with the underwater measuring unit 5 and the water positioning unit 6 through transmission cables 22, and the processing computer 3 receives return signals of the underwater measuring unit 5 and the water positioning unit 6 through the transmission cables 22. The underwater propeller unit 4 is connected to the tail of the mother ship 1, and the underwater propeller unit 4 provides power for the mother ship 1. The underwater measuring unit 5 is fixed in a groove 7 of the sub-ship 2, and the bottom of a transducer of the underwater measuring unit 5 is parallel to the bottom of the sub-ship 2. The marine positioning unit 6 is fixed to the upper end of the hull of the sub-ship 2 by a connecting rod 21. An arm hanging linkage device 9 is connected between the mother ship 1 and the son ship 2, a linkage hook 10 is arranged on the arm hanging linkage device 9, one end of the arm hanging linkage device 9 is fixed on the ship body of the mother ship 1, and the other end of the arm hanging linkage device 9 is connected with a connecting groove 23 through the linkage hook 10 by a screw rod. The telescopic connecting rod 12 can be disassembled into a plurality of sections and single sections, transportation is convenient, the telescopic connecting rod 12 of the single section adopts a nesting mode, or the single sections are connected in an assembling mode through a threaded screw structure, the telescopic connecting rod 12 can realize length adjustment, and then the distance between the mother ship 1 and the son ship 2 can be adjusted according to requirements. The flexible connection between the linkage shaft lever 13 and the linkage shaft sleeve 14 ensures that the telescopic connecting rod 12 can rotate relative to the secondary ship 2, ensures the synchronous stability of the primary ship 1 and the secondary ship 2 in the navigation process, and ensures that the secondary ship 2 freely moves along the water surface heaving direction in the measuring process. The tail end of the linkage shaft rod 13 extends out after being inserted into the linkage shaft sleeve 14, is in butt joint with a matching port 20 of the cushion block 17 and is fastened by a fixing bolt 18, and the linkage shaft rod 13 is prevented from being separated from the linkage shaft sleeve 14. The technical scheme adopts the matching operation of the mother ship 1 and the son ship 2, and has the advantages of simple installation and disassembly, strong portability, shallow draft and cost saving; the power of the underwater propeller unit 4 of the mother ship 1 is provided by gasoline, and compared with a lithium battery, the power is more durable, the endurance is sufficient, and the effective working time is longer; when the ship works in a water area with complex terrain, the ship speed of the mother ship 1 can be manually adjusted in real time to avoid obstacles, the stranding and reef touch risks are greatly reduced, and the ship can be used for inland rivers, lakes and other shallow water areas. Compared with a wireless transmission mode of a depth measurement technology carried by an unmanned ship, the processing computer 3 is connected with the underwater measuring unit 5 and the water positioning unit 6 carried by the sub-ship 2 in a wired transmission mode, and is more stable. Compared with the equipment installation preparation work of carrying the depth measurement technology by a manned ship, the equipment installation preparation work is simple and convenient, the draft value of the underwater measurement unit 5, the height difference value between the overwater positioning unit 6 and the water surface and the important technical parameter values of the relative positions of the overwater positioning unit 6 and the underwater measurement unit 5 are fixed, and repeated measurement errors are avoided. The arm hanging linkage device 9 enables the sub-ship 2 to freely move along the water surface heaving direction in the measuring process, the bow of the sub-ship 2 is consistent with the parent, the ship speed direction is synchronous with the parent ship 1 in the sailing process, and the vibration propagation is reduced.
The embodiment of the invention also provides an arm-mounted towing type water depth measurement method, and the arm-mounted towing type water depth measurement system comprises the following steps:
presetting the draft h of the vessel 21The distance h from the bottom of the energy converter of the underwater measuring unit 5 to the bottom of the sub-ship 22Height h of hull of sub-ship 23The height h of the connecting rod 21 of the positioning unit 6 on the water and the hull of the sub-ship 24；
Draft depth value H of underwater measurement unit 51Draft h of the ship 21The distance h from the bottom of the transducer of the underwater measurement unit 5 to the bottom of the sub-ship 22；
Height H of overwater positioning unit 6 from water surface2Hull height h of the ship 23The draft h of the vessel 21+ height h of marine positioning unit 6 and hull connecting rod 21 of sub-ship 24；
Acquiring return signals of the positioning unit 6 and the underwater measuring unit 5 on the water, and calculating the distance H from the underwater measuring unit 5 to the water bottom and the position coordinate (X) of the underwater measuring unit according to the return signalsUnderwater measuring unit，YUnderwater measuring unit，ZUnderwater measuring unit)；
According to the distance H from the underwater measuring unit 5 to the water bottom and the position coordinates (X) of the underwater measuring unitUnderwater measuring unit，YUnderwater measuring unit，ZUnderwater measuring unit) Displaying the track S and the water bottom elevation H of the sub-ship 2 by the processing computer 3Water bottom；
HWater bottom＝ZUnderwater measuring unit-H-H1-H2；
Position coordinates (X) of the underwater measuring unit 5 for the trajectory SUnderwater measuring unit，YUnderwater measuring unit) The trajectory S is represented by the position coordinates (X) of the underwater measuring unit 5Underwater measuring unit，YUnderwater measuring unit) Connecting the lines, and displaying the water bottom elevation H on the track SWater bottom。
Specifically, the position coordinates (X) of the underwater measurement unit 5 may be measured byUnderwater measuring unit，YUnderwater measuring unit) The lines are connected in sequence, and then the trajectory S is represented, and the trajectory S can be displayed in real time through the processing computer.
In one embodiment of the boom-towing type bathymetry method, the position coordinates (X) of the underwater surveying unit 5 are determinedUnderwater measuring unit，YUnderwater measuring unit，ZUnderwater measuring unit) Establishing a three-dimensional water depth three-dimensional model containing a position relation, filling the three-dimensional water depth three-dimensional model with water bodies, distinguishing the water bodies with different depths by adopting different colors, and representing the change of the water body depth by adopting color gradual change, thereby visually obtaining the three-dimensional depth model of a certain water area.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An arm-mounted towing type water depth measuring system is characterized by comprising a mother ship (1) and a son ship (2), wherein the mother ship (1) is provided with a processing computer (3) and an underwater propeller unit (4); the sub-ship (2) is provided with an underwater measuring unit (5) and an overwater positioning unit (6), a groove (7) is formed in the sub-ship (2), the head of the sub-ship (2) is provided with a fixed base (8), and a connecting groove (23) is formed in the middle of the fixed base (8);
the processing computer (3) is respectively connected with the underwater measuring unit (5) and the water positioning unit (6) through transmission cables (22), and the processing computer (3) receives return signals of the underwater measuring unit (5) and the water positioning unit (6) through the transmission cables (22);
the underwater propeller unit (4) is connected to the tail of the mother ship (1), and the underwater propeller unit (4) provides power for the mother ship (1);
the underwater measuring unit (5) is fixed in a groove (7) of the sub-ship (2), and the bottom of a transducer of the underwater measuring unit (5) is parallel to the bottom of the sub-ship (2);
the water positioning unit (6) is fixed at the upper end of the hull of the sub-ship (2) through a connecting rod (21);
be connected with arm between mother ship (1) and son ship (2) and hang aggregate unit (9), arm hangs aggregate unit (9) and is equipped with linkage couple (10), the one end that arm hung aggregate unit (9) is fixed on the hull of mother ship (1), the other one end that arm hung aggregate unit (9) is passed through linkage couple (10) with connect groove (23) to adopt the screw rod to connect.
2. The boom towing type bathymetric survey system as claimed in claim 1, characterized in that said mother ship (1) is further loaded with a mobile power supply (11), said mobile power supply (11) is fixed in the middle of said mother ship (1), said mobile power supply (11) is used for providing power to said processing computer (3), said underwater surveying unit (5) and said underwater positioning unit.
3. The boom towing type water depth measuring system according to claim 1, wherein the boom linkage device (9) further comprises a telescopic connecting rod (12), a linkage shaft rod (13), a linkage shaft sleeve (14) and a linkage rod (15); one end of the telescopic connecting rod (12) is fixed at the upper end of the mother ship (1), the telescopic connecting rod (12) extends to the outer side of the ship body of the mother ship (1), and the linkage shaft lever (13) is formed at the tail end of the telescopic connecting rod (12); the side part of the linkage shaft sleeve (14) is connected with the linkage rod (15), and the linkage shaft rod (13) is inserted into the linkage shaft sleeve (14); the linkage rod (15) is connected with the linkage hook (10).
4. The boom towing type bathymetric survey system according to claim 3, characterized in that it further comprises a spacer block (17) and a fixing bolt (18), wherein a fastening internal thread (19) is formed at the end of the linkage shaft rod (13), a matching port (20) is formed at the center of the spacer block (17), and the fixing bolt (18) is screwed with the fastening internal thread (19) through the matching port (20); the cushion block (17) blocks the outside of the linkage shaft sleeve (14).
5. The boom towing type bathymetric survey system as claimed in claim 3, characterized in that two buckles (16) are arranged at the connection of said telescopic link (12) and said mother ship (1), said buckles (16) are fixed on the mother ship (1) by bolts.
6. The boom-towing type bathymetric survey system as claimed in claim 1, characterized in that the hull of said mother vessel (1) is an inflatable boat; the hull of the sub-ship (2) is made of EVA material; the arm hanging linkage device (9) is made of aluminum metal; the underwater propeller unit (4) adopts a gasoline underwater propeller.
7. The boom towing type bathymetric survey system according to claim 1, characterized in that the distance between the processing computer (3) and the underwater propulsion unit (4) is less than 1 m, and an operation area is formed between the processing computer (3) and the underwater propulsion unit (4).
8. The arm-hung towed bathymetric survey system as claimed in claim 1, characterized in that the above-water positioning unit (6) is built with a lithium battery, and the above-water positioning unit (6) is integrated with a satellite navigation positioning chip Teseo III for receiving GPS, GLONASS, GALILEO and Beidou satellite signals.
9. The boom-towing type bathymetric survey system as claimed in claim 1, wherein the transmission cable (22) is connected with the top end of the transducer of the underwater survey unit (5), the connection between the transmission cable (22) and the underwater survey unit (5) is vulcanized and sealed, and the above-water positioning unit (6) is fixed right above the transducer of the underwater survey unit (5) through the connecting rod (21).
10. An arm-mounted towed bathymetry method using the arm-mounted towed bathymetry system according to any one of claims 1 to 9, comprising the steps of:
presetting the draft h of the sub-ship (2)1And the distance h from the bottom of the energy converter of the underwater measurement unit (5) to the bottom of the sub-ship (2)2The height h of the hull of the sub-ship (2)3The height h of the connecting rod (21) between the water positioning unit (6) and the hull of the sub-ship (2)4；
Draft value H of underwater measurement unit (5)1Draft h of ═ ship (2)1-the distance h from the transducer bottom of the underwater measurement unit (5) to the bottom of the sub-ship (2)2；
Height H of the positioning unit (6) on the water from the water surface2Height h of hull of ═ ship (2)3-the draft h of the vessel (2)1+ height h of connecting rod (21) between positioning unit (6) on water and hull of sub-ship (2)4；
Return signals of the positioning unit (6) on the water and the underwater measuring unit (5) are obtained, and the distance H from the underwater measuring unit (5) to the water bottom and the position coordinate (X) of the underwater measuring unit (5) are calculated according to the return signalsUnderwater measuring unit，YUnderwater measuring unit，ZUnderwater measuring unit)；
According to the distance H from the underwater measuring unit (5) to the water bottom and the position coordinate (X) of the underwater measuring unit (5)Underwater measuring unit，YUnderwater measuring unit，ZUnderwater measuring unit) The track S and the water bottom height H of the sub-ship (2) are displayed by a processing computer (3)Water bottom；
HWater bottom＝ZUnderwater measuring unit-H-H1-H2；
Position coordinates (X) of underwater measurement unit (5) for trajectory SUnderwater measuring unit，YUnderwater measuring unit) It is shown that,the trajectory S is represented by sequentially aligning the position coordinates (X) of the underwater measurement unit (5)Underwater measuring unit，YUnderwater measuring unit) Connecting the lines, and displaying the water bottom elevation H on the track SWater bottom。
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| CN202010128478.8A CN111189435A (en) | 2020-02-28 | 2020-02-28 | Arm-hanging and dragging type water depth measuring system and method |
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