CN111703538A - Portable underwater topography measurement twin-hull unmanned ship - Google Patents
Portable underwater topography measurement twin-hull unmanned ship Download PDFInfo
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- CN111703538A CN111703538A CN202010591123.2A CN202010591123A CN111703538A CN 111703538 A CN111703538 A CN 111703538A CN 202010591123 A CN202010591123 A CN 202010591123A CN 111703538 A CN111703538 A CN 111703538A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
- B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
- B63B1/12—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly
- B63B1/121—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly comprising two hulls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
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- Combustion & Propulsion (AREA)
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention provides a portable underwater topography measurement twin-hull unmanned ship, which comprises a first ship body, a second ship body and a beam for connecting the first ship body and the second ship body, wherein a first storage battery and a first motor are arranged in the first ship body, a first propeller is arranged at the tail part of the first ship body, and the first motor is connected with the first propeller through a first transmission rod; a second storage battery and a second motor are arranged in the second ship body, a second propeller is arranged at the tail of the second ship body, and the second motor is connected with the second propeller through a second transmission rod; the beam is provided with a measuring device; the first storage battery is connected with the second storage battery through a lead, and the first motor, the second motor and the measuring device are powered through leads.
Description
Technical Field
The invention relates to the technical field of underwater topography mapping, in particular to a device for mapping underwater topography based on a high-precision carrier phase difference technology and an underwater sonar depth measurement principle.
Background
With the development of national economy, water conservancy construction becomes more and more important to national construction, and the problems of accuracy and timeliness of underwater topographic survey are urgently needed to be solved in water conservancy engineering construction and comprehensive treatment of rivers, lakes and reservoirs. The underwater topography measuring precision and the working efficiency can be improved by researching the underwater depth detection method and utilizing the advanced technology to detect depth.
In a traditional underwater topography measurement project, a man-made ship is mainly used for carrying large equipment to a specified water area for measurement operation, RTK (Real-time kinematic) measurement equipment is mainly carried in a shoal or shallow river in a water launching mode for measurement operation, and the measurement mode is time-consuming, labor-consuming and dangerous. The manual operation of the ship on water causes the water equipment to be difficult to fix and the measurement error to be large; and secondly, in some remote areas with inconvenient traffic, even no ship is available, and the measurement operation cannot be carried out. Therefore, the traditional underwater measurement mode is difficult to meet the project operation requirements.
Chinese patent grant number is CN 206171741U's utility model patent discloses an unmanned survey ship of topography under water, this ship be monomer ship, and the gyration controllability is relatively poor, and hull stability is not enough, and monomer ship deck area is limited in addition, inconvenient and carry on installation measuring equipment. The utility model with the grant number of Chinese patent of CN202186492U discloses a double-power remote control survey vessel, which has large waterline area and large wave-making resistance and is limited by the stormy conditions of survey waters. These deficiencies make it difficult to ensure the measurement accuracy, efficiency and operation range of the currently published measuring vessel.
Disclosure of Invention
The invention provides a portable underwater topography measurement double-body unmanned ship, aiming at the defects of time consumption, labor consumption, low precision and the like of the traditional underwater topography measurement.
The invention provides a portable underwater topography measurement twin-hull unmanned ship which comprises a first ship body, a second ship body and a cross beam for connecting the first ship body and the second ship body, wherein a first storage battery and a first motor are arranged in the first ship body, a first propeller is arranged at the tail part of the first ship body, and the first motor is connected with the first propeller through a first transmission rod; a second storage battery and a second motor are arranged in the second ship body, a second propeller is arranged at the tail of the second ship body, and the second motor is connected with the second propeller through a second transmission rod; the beam is provided with a measuring device; the first storage battery is connected with the second storage battery through a lead, and the first motor, the second motor and the measuring device are powered through leads. The storage battery drives the motor to rotate and is driven by the transmission rod, so that the propeller is driven. The propeller can horizontally rotate to realize forward and backward and left and right steering of the ship body. The measuring device realizes underwater topography measurement.
Further, the first and second hulls have a length of 1.00m, a width of 0.2m, and a draft of 0.15 m. The water line area of the ship body is small, and the wave making resistance is small.
Further, the measuring device comprises a sonar depth finder, an RTK receiver, a camera, a wireless communication device and a central control system, wherein the sonar depth finder is fixed on the lower side of the beam and always keeps contact with the water surface; the RTK receiver, the camera, the wireless communication device and the central control system are all fixed on the upper side of the beam; the central control system is respectively and electrically connected with the sonar depth finder, the RTK receiver, the camera, the wireless communication device, the first motor and the second motor. The RTK receiver is used for obtaining longitude and latitude and water surface elevation data of the water surface where the ship body is located, the sonar depth finder is used for obtaining point position water depth, and the RTK receiver and the sonar depth finder are combined to achieve three-dimensional measurement of underwater topography. The camera is used for collecting surrounding images. The wireless communication device is used for carrying out wireless communication with the shore-based remote control terminal. The central control system is used for collecting the measurement data, controlling the wireless communication device to send the data to the shore-based remote control terminal, receiving the operation instruction of the shore-based remote control terminal and controlling each part of the ship body to normally operate.
Further, the sonar depth finder is connected with the crossbeam downside through shock-absorbing structure, shock-absorbing structure includes frame, screw rod, spring, locating plate and nut, the frame top with the crossbeam downside is connected, the screw rod stretches into from the bottom in the frame, spring, locating plate cover are in on the screw rod, spring one end supports the frame, the spring other end supports the locating plate, the nut with the screw rod passes through threaded connection. Shock-absorbing structure can play the cushioning effect, reduces the influence of rivers alluvial deposit, improves measurement accuracy, and the convenient instrument height of in time adjusting.
Furthermore, the sonar depth finder is a multi-beam sonar depth finder. The multi-beam sonar depth sounder is combined with an RTK receiver of a high-precision carrier phase difference technology, and can realize accurate three-dimensional measurement of underwater topography.
The invention has the following technical effects:
(1) the invention adopts the structural design of the catamaran, can effectively reduce the influence of the shaking of the ship body on the measuring structure, has simple structure, is convenient to disassemble, install and carry, and is suitable for multiple scenes;
(2) the invention adopts a large cross beam structure, effectively improves the deck area of the ship body, can carry various measuring devices, can reserve a water quality measuring module for the later period, increases the operation types and improves the operation efficiency;
(3) the invention adopts a high-precision GPS-RTK digital terrain measurement technology and combines a sonar underwater depth sounding technology, so that the underwater fixed elevation can be accurately measured;
(4) according to the invention, the shore-based remote control terminal is adopted to control the measuring ship to carry out measuring operation instead of traditional manual measurement, and the measured data can be transmitted in real time to carry out recording and analysis, so that the manual labor can be effectively reduced, and the working efficiency is improved.
Drawings
FIG. 1 is a schematic top view of a portable underwater topography survey catamaran unmanned ship of the present invention.
FIG. 2 is a schematic side view of a portable underwater topography survey catamaran unmanned ship of the present invention.
FIG. 3 is a schematic front view of a portable underwater topography survey catamaran unmanned ship of the present invention.
FIG. 4 is an enlarged schematic view of the depth finder connecting beam sliding rod and spring element connecting piece in the invention.
The reference signs explain: 1a, a first ship body, 1b, a second ship body, 2a, a first storage battery, 2b, a second storage battery, 3a, a first motor, 3b, a second motor, 4a, a first transmission rod, 4b, a second transmission rod, 5a, a first propeller, 5b, a second propeller, 6, a beam, 7, a bolt, 8, a camera, 9, a sonar depth finder, 10, an RTK receiver, 11, a signal antenna of the RTK receiver, 12, a central control system, 13, a wireless communication device, 14, a screw hole, 15, a frame, 16, a positioning plate, 17, a spring, 18, a rubber pad, 19, a screw rod, 20 and a nut.
Detailed Description
The technical scheme in the practical embodiment of the invention is clearly and completely explained below by combining the attached drawings.
Referring to fig. 1-3, a portable underwater topography measurement catamaran unmanned ship comprises a first ship body 1a, a second ship body 1b and an I-shaped beam 6, wherein the end of the I-shaped beam 6 is connected with the first ship body 1a and the second ship body 1b through bolts 7. The first ship body 1a is internally divided into a buoyancy cabin, a power cabin and a power cabin by a partition board, a first storage battery 2a is arranged in the power cabin of the first ship body 1a, a first motor 3a is arranged in the power cabin of the first ship body 1a, a first propeller 5a is arranged at the tail part of the first ship body 1a, and the first motor 3a is connected with the first propeller 5a through a first transmission rod 4 a. The interior of the second ship body 1b is divided into a buoyancy cabin, a power cabin and a power cabin by a partition board, a second storage battery 2b is arranged in the power cabin of the second ship body 1b, a second motor 3b is arranged in the power cabin of the second ship body 1b, a second propeller 5b is arranged at the tail of the second ship body 1b, and the second motor 3b is connected with the second propeller 5b through a second transmission rod 4 b. Waterproof covers are arranged above the first storage battery 2a and the second storage battery 2 b. The upper side of the front end of the beam 6 is provided with a camera 8, the upper side of the middle part of the beam 6 is provided with an RTK receiver 10, and the upper side of the tail end of the beam 6 is provided with a central control system 12 and a wireless communication device 13. Crossbeam 6 middle part downside passes through shock-absorbing structure and installs sonar depth finder 9, and sonar depth finder 9 keeps the contact with the surface of water. The damping structure comprises a frame 15, a positioning plate 16, a spring 17, a rubber pad 18, a screw rod 19 and a nut 20, wherein the top end of the frame 15 is fixedly connected with the lower side of the middle part of the beam 6, the screw rod 19 extends into the frame 15 from the bottom, the rubber pad 18, the spring 17 and the positioning plate 16 are sequentially sleeved on the screw rod 19 from bottom to top, the nut 20 is connected with the top end of the screw rod 19 through threads, and the bottom end of the screw rod 19 is connected with the sonar depth finder 9; thus, the spring 17 can play a role of damping, and the vertical position of the screw 19 can be adjusted by screwing the nut 20. The central control system 12 is connected with the camera 8, the sonar depth finder 9, the RTK receiver 10, the wireless communication device 13, the first motor 3a and the second motor 3b through data lines, and controls the operation of each instrument and equipment. The first storage battery 2a and the second storage battery 2b are connected in parallel by power lines, and are connected with the first motor 3a, the second motor 3b, the camera 8, the sonar depth finder 9, the RTK receiver 10, the central control system 12 and the wireless communication device 13 through wires, so as to provide stable power supplies for the first storage battery and the second storage battery.
The first ship body 1a, the second ship body 1b and the I-shaped beam 6 form a catamaran, the total length of the catamaran is 1.00m, and the width of the catamaran is 0.65 m; wherein the first hull 1a and the second hull 1b are both 0.2m wide and 0.15m deep draft. The first motor 3a, the first transmission rod 4a, the first propeller 5a, the second motor 3b, the second transmission rod 4b and the second propeller 5b form an unmanned ship power system. The camera 8, the sonar depth finder 9, the RTK receiver 10, the wireless communication device 13, and the central control system 12 constitute a measuring device.
The buoyancy cabin, the power supply cabin and the power cabin in the catamaran independently adopt closed cabins, so that the safety of the catamaran can be improved, and the measuring ship cannot sink. The power system drives the catamaran to move, and the forward, backward, steering and other operations of the catamaran can be realized. The measuring device realizes underwater topographic survey, and under the control of the central control system, the RTK receiver is used for obtaining the longitude and latitude of the water surface where the ship body is located and the water surface elevation data, the sonar depth finder is used for obtaining the water depth of a point position, and the camera is used for collecting images. The control instruction can be sent through a shore-based remote control terminal, and the control and measurement operation on the ship body can be realized. The shore-based remote control terminal can comprise a signal receiving and transmitting antenna, a camera control key, a measurement control key, a throttle lever, a steering lever, a display screen, a storage battery, a microprocessor, data storage and the like, and can realize the implementation control operation and data storage and export of the measuring ship. The shore-based remote control terminal is communicated with the wireless communication device, so that real-time data transmission, wireless remote control and autonomous navigation measurement operation are realized, and the measurement operation is more efficient and energy-saving.
The portable underwater topography measuring twin-hull unmanned ship integrates a sonar depth sounding technology, an RTK technology, a radio remote control technology and a wireless transmission technology, has strong cruising ability and high stability, can adapt to underwater topography measurement in various environments, can realize data real-time transmission, wireless remote control and autonomous navigation, can carry related measuring instrument equipment, and completes related water area measurement operation.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical scope of the present invention and the equivalent alternatives or modifications according to the technical solution and the concept of the present invention within the technical scope of the present invention.
Claims (5)
1. A portable underwater topography measurement twin-hull unmanned ship is characterized in that: the ship comprises a first ship body, a second ship body and a cross beam for connecting the first ship body and the second ship body, wherein a first storage battery and a first motor are arranged in the first ship body, a first propeller is arranged at the tail part of the first ship body, and the first motor is connected with the first propeller through a first transmission rod; a second storage battery and a second motor are arranged in the second ship body, a second propeller is arranged at the tail of the second ship body, and the second motor is connected with the second propeller through a second transmission rod; the beam is provided with a measuring device; the first storage battery is connected with the second storage battery through a lead, and the first motor, the second motor and the measuring device are powered through leads.
2. The portable underwater topography survey catamaran unmanned ship of claim 1, wherein: the first and second hulls have a length of 1.00m, a width of 0.2m, and a draft of 0.15 m.
3. The portable underwater topography survey catamaran unmanned aerial vehicle of claim 1 or 2, wherein: the measuring device comprises a sonar depth finder, an RTK receiver, a camera, a wireless communication device and a central control system, wherein the sonar depth finder is fixed on the lower side of the beam and always keeps contact with the water surface; the RTK receiver, the camera, the wireless communication device and the central control system are all fixed on the upper side of the beam; the central control system is respectively and electrically connected with the sonar depth finder, the RTK receiver, the camera, the wireless communication device, the first motor and the second motor.
4. The portable underwater topography survey catamaran unmanned ship of claim 3, wherein: the sonar depth finder with the crossbeam downside passes through shock-absorbing structure and is connected, shock-absorbing structure includes frame, screw rod, spring, locating plate and nut, the frame top with the crossbeam downside is connected, the screw rod stretches into from the bottom in the frame, spring, locating plate cover are in on the screw rod, spring one end supports the frame, the spring other end supports the locating plate, the nut with the screw rod passes through threaded connection.
5. The portable underwater topography survey catamaran unmanned ship of claim 4, wherein: the sonar depth finder is a multi-beam sonar depth finder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010591123.2A CN111703538A (en) | 2020-06-24 | 2020-06-24 | Portable underwater topography measurement twin-hull unmanned ship |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010591123.2A CN111703538A (en) | 2020-06-24 | 2020-06-24 | Portable underwater topography measurement twin-hull unmanned ship |
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| CN111703538A true CN111703538A (en) | 2020-09-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010591123.2A Pending CN111703538A (en) | 2020-06-24 | 2020-06-24 | Portable underwater topography measurement twin-hull unmanned ship |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109606578A (en) * | 2018-12-03 | 2019-04-12 | 江苏科技大学 | A kind of marine environmental monitoring green energy resource small-waterplane-area improvement unmanned ships and light boats of binary |
| CN110243411A (en) * | 2019-06-24 | 2019-09-17 | 中国水利水电科学研究院 | A kind of Multi-functional disome formula water environment unmanned monitoring ship |
-
2020
- 2020-06-24 CN CN202010591123.2A patent/CN111703538A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109606578A (en) * | 2018-12-03 | 2019-04-12 | 江苏科技大学 | A kind of marine environmental monitoring green energy resource small-waterplane-area improvement unmanned ships and light boats of binary |
| CN110243411A (en) * | 2019-06-24 | 2019-09-17 | 中国水利水电科学研究院 | A kind of Multi-functional disome formula water environment unmanned monitoring ship |
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Application publication date: 20200925 |