CN112066953A - Underwater investigation equipment collecting and releasing and underwater position measuring system - Google Patents
Underwater investigation equipment collecting and releasing and underwater position measuring system Download PDFInfo
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- CN112066953A CN112066953A CN202010745467.4A CN202010745467A CN112066953A CN 112066953 A CN112066953 A CN 112066953A CN 202010745467 A CN202010745467 A CN 202010745467A CN 112066953 A CN112066953 A CN 112066953A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses an underwater investigation equipment retracting and releasing and underwater position measuring system, which comprises: a fixing device; the lifting device is arranged on the fixing device and can rotate on the fixing device along the horizontal direction; the lifting device comprises a supporting arm and a telescopic arm, and the telescopic arm can extend out by 500 mm; steel wire ropes are arranged on the supporting arm and the telescopic arm and connected with underwater investigation equipment; the underwater position measuring device is arranged on the hoisting device and comprises a goniometer and a length measuring device. The system is simple to operate and reliable in performance, the position of the underwater investigation equipment can be adjusted in real time, the underwater position of the underwater investigation equipment is measured, and the more accurate underwater position of the underwater investigation equipment can be obtained.
Description
Technical Field
The invention relates to the technical field of marine resource exploration, in particular to an underwater survey equipment deploying and retracting and underwater position measuring system.
Background
In the oceanographic engineering investigation, underwater investigation equipment such as a side scan sonar, a shallow stratum profiler, an ocean magnetometer, a single-point current meter, an acoustic velocimeter, a thermohaline depth meter, a seabed surface layer sampler and the like is used, so that seabed landform, seabed stratum structure, sea current characteristics, seawater acoustic velocity characteristics, seawater temperature salinity characteristics, seabed surface layer sediment characteristics and the like can be measured. Since the underwater survey equipment of these instruments is not hard-wired to the survey vessel, there are disadvantages in the measurement:
(1) when the ship-borne type measurement is carried out in oceanographic engineering survey, an underwater towed fish of a side scan sonar, an underwater towed fish of a magnetometer and an underwater towed body of a shallow profile profiler are flexibly connected with a survey ship through cables, and the underwater position of the survey ship is difficult to accurately measure; meanwhile, when in measurement, the position of the underwater investigation equipment is difficult to adjust in real time due to the large resistance of water flow. In shallow water (water depth less than 20m), ultra-short baseline (USBL) can not be used for underwater positioning, and estimation can be carried out only through the length and the angle of the towing cable, so that the position deviation is large.
(2) During fixed point measurement in oceanographic engineering survey, single-point current meter, warm salt depth appearance, sound velocity appearance, seabed top layer sampler pass through hawser and investigation ship flexible connection, also can receive the washing away of ocean current promoting and transferring the in-process, and not vertical lift, the length of hawser release is not the degree of depth of entrying of equipment, the degree of depth of entrying of unable accurate positioning equipment.
In conclusion, the existing underwater positioning system is not suitable for shallow water areas, and a system for collecting and releasing underwater investigation equipment and measuring underwater positions in shallow water areas does not exist.
Disclosure of Invention
The embodiment of the application provides an underwater investigation equipment receive and release and underwater position measurement system, and is simple in operation, reliable in performance, can adjust the position of underwater investigation equipment in real time, and measure the underwater position, can be applied to the underwater investigation equipment receive and release and underwater position measurement when small-size investigation ship is measured in shallow water, and can provide more accurate underwater position of underwater investigation equipment.
The application provides the following technical scheme through an embodiment of the application:
an underwater investigation equipment receive and release and underwater position measurement system, comprising:
the fixing device is used for fixing on a ship board of the survey ship; the system adopts a coordinate system of an investigation ship, the center of the investigation ship is taken as an origin, the heading of the ship is taken as a y-axis, and the forward direction is positive; the starboard direction is the x axis, and the starboard direction is positive; the vertical direction is the z-axis and the upward direction is positive;
the lifting device is arranged on the fixing device and can rotate on the fixing device along the horizontal direction; the lifting device comprises a supporting arm and a telescopic arm, wherein the supporting arm is connected with the telescopic arm, and the telescopic arm can extend out 500mm in the x-axis direction, so that the total length of the supporting arm and the telescopic arm is adjusted between 1100mm and 1600 mm; a steel wire rope reel is arranged at the tail end of the supporting arm, a steel wire rope is wound on the steel wire rope reel, one end of the steel wire rope is connected with the steel wire rope reel, the other end of the steel wire rope reaches the tail end of the telescopic arm, and the other end of the steel wire rope is used for being connected with underwater investigation equipment;
the underwater position measuring device is arranged on the hoisting device and comprises a goniometer and a length measuring device, the goniometer is used for measuring the included angle of the steel wire rope in the yoz plane and the vertical direction, the length measuring device is used for measuring the length l of the steel wire rope, and the included angle and the length l can be used for calculating the underwater position of the underwater investigation equipment.
Preferably, the fixing device includes:
a clamper;
a clamper locking pin disposed at a side of the clamper;
the upright post is vertically fixed on the clamping device and is divided into two sections, namely an upper half section of upright post and a lower half section of upright post.
Preferably, the support arm is arranged at the top end of the upright post, and the support arm is connected with the upright post through a support arm bearing.
Preferably, the hoisting device further comprises:
the vertical rotating shaft is sleeved outside the joint of the upper half-section upright column and the lower half-section upright column and is fixedly connected with the upper half-section upright column, and the vertical rotating shaft can rotate 360 degrees in the horizontal direction so as to drive the upper half-section upright column to rotate 360 degrees in the horizontal direction;
and the vertical rotating shaft locking pin is arranged on the side surface of the vertical rotating shaft and used for locking the relative positions of the upper half section of upright post and the lower half section of upright post.
Preferably, the hoisting device further comprises:
the telescopic arm transmission gear is arranged below the telescopic arm and used for adjusting the extending length of the telescopic arm;
and the telescopic arm locking pin is arranged on the telescopic arm and used for locking the positions of the telescopic arm and the supporting arm.
Preferably, the hoisting device further comprises:
supporting spring, set up the stand with between the support arm, supporting spring with contained angle between the stand is 45, supporting spring with contained angle between the support arm is 45, supporting spring rigidity is 80kN/m, and compression and extension stroke is 50 mm.
Preferably, a telescopic boom hanging ring is arranged at the tail end of the telescopic boom.
Preferably, the hoisting device further comprises:
and the alternating current motor is arranged at the tail end of the supporting arm and connected with the steel wire rope reel, and the alternating current motor is used for driving the steel wire rope reel to rotate so as to control the winding and unwinding of the steel wire rope.
Preferably, the length measuring device includes:
the counter rotating wheel is connected with the steel wire rope rotating shaft, the steel wire rope bypasses the counter rotating wheel, and the steel wire rope drives the counter rotating wheel to rotate in the process of winding and unwinding the steel wire rope;
the counting sensor is connected with the counter rotating wheel and is used for detecting the rotation of the counter rotating wheel;
and the counter is connected with the counting sensor and used for counting the rotating number of turns of the counter rotating wheel through the counting sensor, wherein the rotating number of turns of the counter rotating wheel can be used for calculating the length l of the steel wire rope.
Preferably, the system further comprises a control circuit, the control circuit comprising:
the alternating current power supply is connected with the alternating current motor, the counting sensor and the counter;
the motor forward and reverse rotation switch is connected between the alternating current power supply and the alternating current motor in series and is used for controlling forward rotation and reverse rotation of the alternating current motor;
the motor speed regulator is connected with the alternating current motor and is used for regulating the rotating speed of the alternating current motor;
the first communication interface is connected with the counter and is used for connecting a computer;
the second communication interface is connected with the goniometer and is used for connecting a computer;
wherein the computer is to: and receiving the length l through the first communication interface, receiving the included angle through the second communication interface, and calculating the underwater position of the underwater investigation equipment relative to the investigation ship based on the included angle and the length l.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
in the embodiment of the application, an underwater investigation equipment collecting and releasing and underwater position measuring system is disclosed, comprising: the fixing device is used for fixing on a ship board of the survey ship; the system adopts a coordinate system of an investigation ship, the center of the investigation ship is taken as an origin, the heading of the ship is taken as a y-axis, and the forward direction is positive; the starboard direction is the x axis, and the starboard direction is positive; the vertical direction is the z-axis and the upward direction is positive; the lifting device is arranged on the fixing device and can rotate on the fixing device along the horizontal direction; the lifting device comprises a supporting arm and a telescopic arm, wherein the supporting arm is connected with the telescopic arm, and the telescopic arm can extend out 500mm in the x-axis direction, so that the total length of the supporting arm and the telescopic arm is adjusted between 1100mm and 1600 mm; a steel wire rope reel is arranged at the tail end of the supporting arm, a steel wire rope is wound on the steel wire rope reel, one end of the steel wire rope is connected with the steel wire rope reel, the other end of the steel wire rope reaches the tail end of the telescopic arm, and the other end of the steel wire rope is used for being connected with underwater investigation equipment; the underwater position measuring device is arranged on the hoisting device and comprises a goniometer and a length measuring device, the goniometer is used for measuring the included angle of the steel wire rope in the yoz plane and the vertical direction, the length measuring device is used for measuring the length l of the steel wire rope, and the included angle and the length l can be used for calculating the underwater position of the underwater investigation equipment. The system is simple to operate and reliable in performance, can adjust the position of the underwater investigation equipment in real time and measure the underwater position of the underwater investigation equipment, can be applied to retraction and release of the underwater investigation equipment and underwater position measurement when a small investigation ship measures in a shallow water area, and can obtain the more accurate underwater position of the underwater investigation equipment.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a schematic diagram of the overall structure of an underwater surveying apparatus retracting and releasing and underwater position measuring system in the embodiment of the present application;
FIG. 2 is a schematic view of the structure of the fixing device in the embodiment of the present application;
FIG. 3 is a schematic three-dimensional structure of a lifting device in an embodiment of the present application;
FIG. 4 is a schematic view of the embodiment of the present application showing the hanging device in the plane xoz;
FIG. 5 is a schematic structural view of the hoisting device in the yoz plane in the embodiment of the present application;
FIG. 6 is a schematic structural diagram of the underwater position measuring device in the yoz plane in the embodiment of the present application;
FIG. 7 is a schematic diagram of a control circuit in an embodiment of the present application;
FIG. 8 is a schematic diagram of a survey vessel coordinate system in an embodiment of the present application.
Description of the labeling: 1-a clamper; 2-gripper locking pins; 3-upright column; 4-vertical rotating shaft; 5-vertical spindle locking pin; 6-supporting the spring; 7-a support arm; 8-support arm bearings; 9-telescopic arm locking pin; 10-a telescopic arm; 11-telescopic arm transmission gear; 12-a steel wire rope; 13-a guide pulley; 14-telescopic boom hoisting rings; 15-goniometer; 16-a counter; 17-a counting sensor; 18-a counter wheel; 19-an alternating current motor; 20-a wire rope reel; 21-alternating current power supply; 22-motor speed controller; 23-a motor forward and reverse rotation switch; 24-a first communication interface; 25-second communication interface.
Detailed Description
The embodiment of the application provides an underwater investigation equipment receive and release and underwater position measurement system, and is simple in operation, reliable in performance, can adjust the position of underwater investigation equipment in real time, and measure the underwater position, can be applied to the underwater investigation equipment receive and release and underwater position measurement when small-size investigation ship is measured in shallow water, and can provide more accurate underwater position of underwater investigation equipment.
Example one
The embodiment provides a system for deploying and retracting an underwater investigation device and measuring an underwater position, which adopts an investigation ship coordinate system, as shown in fig. 8, the coordinate system takes the center of an investigation ship as an origin, the heading of the ship is a y-axis, and the forward direction is positive; the starboard direction is the x axis, and the starboard direction is positive; the vertical direction is the z-axis and upward is positive.
As shown in fig. 1, the underwater surveying apparatus retracting and releasing and underwater position measuring system includes:
the fixing device is used for fixing the system on a ship board of the survey ship;
the hoisting device is arranged on the fixing device, can rotate on the fixing device in the horizontal direction, can be connected with the underwater investigation equipment through a steel wire rope 12, and can hoist, move and hoist the underwater investigation equipment;
the underwater position measuring device is arranged on the hoisting device and used for measuring the underwater position of the underwater investigation equipment;
and the control circuit is connected with the hoisting device and the underwater position measuring device and is used for controlling the hoisting device and the underwater position measuring device.
In a specific implementation, an underwater surveying apparatus, comprising: side scan sonar underwater fish, marine magnetometer underwater fish, shallow profiler underwater drags, single point current meters, sound velocimeters, thermohaline depth meters, seafloor surface samplers, and the like.
As an alternative embodiment, as shown in fig. 1 and 2, the fixing device includes:
a clamp 1 which can be clamped on the side of the survey ship;
a clamper locking pin 2 arranged on the side surface of the clamper 1; wherein, if the clamp locking pin 2 is screwed, the clamp 1 can be stably fixed on the ship board; if the clamp locking pin 2 is unscrewed, the clamp 1 can be separated from the ship board;
the stand 3, vertical the fixing on binding clasp 1, stand 3 divide into two sections, promptly: the upper half section of upright post and the lower half section of upright post.
As an optional embodiment, be provided with vertical rotating shaft 4 in the junction outside of first half section stand and second half section stand, vertical rotating shaft 4 and first half section stand fixed connection, vertical rotating shaft 4 can rotate 360 in the horizontal direction to drive first half section stand and 360 rotations in the horizontal direction, that is to say, can drive whole device of putting that hangs and rotate 360 in the horizontal direction.
In the implementation process, a vertical rotating shaft locking pin 5 is arranged on the side surface of the vertical rotating shaft 4 and used for locking the positions of the upper half section of upright post and the lower half section of upright post, namely, the positions of the hoisting device and the fixing device.
As an alternative embodiment, as shown in figures 1 and 3, the lifting device comprises
A support arm 7;
the telescopic boom 10 is connected with the supporting arm 7 to form a telescopic boom; the telescopic supporting arm 7 is sleeved outside the telescopic arm 10, and the telescopic arm 10 can extend out 500mm in the x-axis direction, so that the total length of the telescopic suspension arm (namely the supporting arm 7 and the telescopic arm 10) is adjusted between 1100mm and 1600 mm;
and the steel wire rope reel 20 is arranged at the tail end of the support arm 7, the steel wire rope 12 is wound on the steel wire rope reel 20, one end of the steel wire rope 12 is connected with the steel wire rope reel 20, the other end of the steel wire rope 12 reaches the tail end of the telescopic arm 7, and the other end of the steel wire rope 12 is used for being connected with underwater investigation equipment.
In the specific implementation process, the steel wire rope 12 is wound on the steel wire rope reel 20, the diameter of the steel wire rope 12 is 5mm, the length of the steel wire rope is 50m, and the hoisting weight is 100 kg.
As an alternative embodiment, as shown in fig. 5, a telescopic boom hoist ring 14 is provided at the distal end of the telescopic boom 10.
As an alternative embodiment, a support arm 7 is provided at the top end of the upright 3, the support arm 7 being connected to the upright 3 by a support arm bearing 8, in particular the support arm 7 being connected to the upright in the upper half by a support arm bearing 8.
As an alternative embodiment, as shown in fig. 1, 3-5, the hanging device further includes
The number of the guide pulleys 13 is 3, and after the wire rope 12 passes around the guide pulleys 13, the direction of the wire rope 12 is converted from the x-axis direction to the direction rotating around the x-axis in the yoz plane.
As an alternative embodiment, as shown in fig. 1, 3-4, the hanging device further includes:
the telescopic arm transmission gear 11 is arranged below the telescopic arm 10, and the extending length of the telescopic arm can be adjusted by rotating the telescopic arm transmission gear 11;
and a telescopic arm locking pin 9 provided on the telescopic arm 10, the telescopic arm locking pin 9 being used for locking the positions of the telescopic arm 10 and the support arm 7.
As an alternative embodiment, as shown in fig. 1, 3-4, the hanging device further includes:
support spring 6 sets up between stand 3 and support arm 7, and the contained angle between support spring 6 and the stand 3 is 45, and the contained angle between support spring 6 and the support arm 7 is 45. The telescopic boom, the upright post 3 and the supporting spring 6 form a static triangle structure, the rigidity of the supporting spring 6 is 80kN/m, and the compression and extension stroke is +/-50 mm.
In the specific implementation process, the supporting spring 6 can provide certain heave compensation, the up-down stroke of the tail end of the telescopic boom (for example, the tail end of the telescopic boom 10) can be +/-130 mm to +/-180 mm, and the underwater survey equipment can be kept stable in underwater posture to a certain extent when the survey ship rolls and shakes.
As an alternative embodiment, as shown in fig. 6, the hanging device further includes:
and the alternating current motor 19 is arranged at the tail end of the supporting arm 7 and is connected with the steel wire rope reel 20, and the alternating current motor 19 is used for controlling the steel wire rope reel 20 to rotate so as to control the winding and unwinding of the steel wire rope 12.
As an alternative embodiment, as shown in fig. 1 and 6, the underwater position measuring device includes:
the goniometer 15 is used for measuring the included angle between the steel wire rope 12 and the vertical direction in the yoz plane;
a length measuring device for measuring the length l of the wire rope 12; wherein the angle and the length l can be used to calculate the underwater position of the underwater surveying device.
As an alternative embodiment, the length measuring device comprises:
the counter rotating wheel 18 is connected with the steel wire rope rotating shaft 20, the steel wire rope 12 bypasses the counter rotating wheel 18, and the steel wire rope 12 drives the counter rotating wheel 18 to rotate in the process of winding and unwinding the steel wire rope 12;
a count sensor 17 connected to the counter wheel 18 for detecting rotation of the counter wheel 18;
and the counter 16 is connected with the counting sensor 18 and is used for counting the number of turns of the counter rotating wheel 18 through the counting sensor 17, wherein the number of turns of the counter rotating wheel 18 can be used for calculating the length l of the steel wire rope 12.
In the specific implementation process, the steel wire rope 12 bypasses the counter rotating wheel 18, in the winding and unwinding process of the steel wire rope 12, the steel wire rope 12 drives the counter rotating wheel 18 to rotate forwards or backwards, the counting sensor 17 generates a pulse signal, the counter 16 decodes the pulse signal to obtain the number of rotation turns of the counter rotating wheel 18, and the winding and unwinding length of the steel wire rope 12 can be calculated according to the diameter and the number of rotation turns of the counter rotating wheel 18. Wherein, the counting range of the counter 16 is-199 m-999 m, the counting precision is 1cm, and the counting can be cleared and accumulated at any time.
As an alternative embodiment, as shown in fig. 7, the control circuit includes:
an ac power supply 21 connected to the ac motor 19, the count sensor 17, and the counter 16;
a motor forward/reverse rotation switch 23 connected in series between the ac power supply 21 and the ac motor 19 for controlling forward rotation and reverse rotation of the ac motor 19;
the motor speed regulator 22 is connected with the alternating current motor 19 and is used for regulating the rotating speed of the alternating current motor 19;
a first communication interface 24 connected with the counter 16 for connecting a computer;
and the second communication interface 25 is connected with the goniometer 15 and is used for connecting a computer.
In a specific implementation process, the ac power supply 21 is specifically a-220V ac power supply, the first communication interface 24 is specifically an RS485 to USB interface, and the second communication interface 25 is specifically a TTL to USB interface.
In a specific implementation, the computer is configured to: the length l is received via the first communication interface 24 and the angle is received via the second communication interface 25, and based on the angle and the length l, the underwater position of the underwater survey device relative to the survey vessel is calculated.
The coordinate of the end of the telescopic arm 10 relative to the GPS is (x) by taking the center of the GPS antenna on the survey ship as the origin1,y1,z1) And the coordinates of the underwater surveying equipment relative to the GPS antenna center are (x, y, z):
wherein the underwater investigation equipment has a water penetration depth d ═ l · sin θ -d1，d1The distance from the right tail end of the telescopic boom to the water surface along the x axis is equal to the included angle between the steel wire rope and the horizontal direction, and the theta is equal to 90-; and the real position of the underwater investigation equipment can be calculated according to the world coordinates of the antenna of the GPS.
The underwater position calculation method of the underwater investigation equipment is the same when the aerial type measurement is carried out and the fixed point type measurement is carried out.
The system has exquisite volume, can be applied to small-sized survey ships, is suitable for shallow water areas, can realize the retraction and release of underwater survey equipment and the underwater position measurement when the shallow water areas are measured, and can obtain more accurate underwater position of the underwater survey equipment.
The following will describe the method for deploying and retracting the underwater surveying device and using the underwater position measuring system in detail.
S1, the clamp 1 is clamped on the side of the survey ship, and the clamp locking pin 2 is tightened to fix the clamp 1 on the side of the ship.
S2, the vertical shaft locking pin 5 is released and the upper hoisting part is rotated to the inboard side of the survey vessel.
S3, loosening the locking pin 9 of the telescopic arm, rotating the transmission gear 11 of the telescopic arm, adjusting the extending length of the telescopic arm 10, and adjusting the length to a proper length according to the requirement of an investigation task; then, the telescopic arm locking pin 9 is locked to fix the length of the telescopic arm 10.
S4, the alternating current motor 19 is electrified, the steel wire rope reel 20 is automatically unlocked, the motor speed regulator 22 is adjusted, the motor forward rotation switch 23 is turned on, the alternating current motor 19 rotates forwards, the extending length of the steel wire rope 12 is adjusted, then the power is cut off, and the steel wire rope reel 20 is automatically locked. The tail end of a steel wire rope 12 extending out of the end of the goniometer 15 is connected with underwater investigation equipment such as an underwater fish towing of a side scan sonar, an underwater fish towing of an ocean magnetometer, an underwater towed body of a shallow layer profiler, a single-point current meter, an acoustic velocity meter, a thermohaline depth meter, a seabed surface layer sampler and the like.
And S5, the alternating current motor 19 is electrified, the steel wire rope reel 20 is automatically unlocked, the motor reversing switch 23 is turned on, the motor reverses, all the steel wire ropes 12 are recovered, the underwater investigation equipment is hoisted, the bottom of the underwater investigation equipment is higher than the ship board of the investigation ship, the top of the underwater investigation equipment is tightly attached to the angle meter 15, and then the power is cut off, and the steel wire rope reel 20 is automatically locked.
And S6, rotating the upper hoisting part to the outboard side of the ship board to be parallel to the x-axis direction, and locking the vertical rotating shaft locking pin 5. Meanwhile, a hauling rope is used for connecting the telescopic arm hanging ring 14 with a mooring bollard of an investigation ship, so that the vertical rotating shaft locking pin 5 is prevented from bearing excessive torque.
And S7, resetting the counter 16 to zero, connecting the first communication interface 24 and the second communication interface 25 to a computer, and reading the data of the goniometer 15 and the counter 16. The alternating current motor 19 is electrified, and the steel wire rope reel 20 is automatically unlocked; turning on a motor forward rotation switch 23, rotating the motor forward, lowering the underwater part of the investigation equipment below the water surface to enable the top of the investigation equipment to be located at the water surface, then powering off an alternating current motor 19, automatically locking a steel wire rope reel 20, reading the number of a counter 16, and acquiring the length d of the extending steel wire rope1(i.e., the height of the right end of the telescopic arm 10 from the water surface along the x-axis).
S8, for the investigation task needing the sailing observation, the ship speed is adjusted to be 4 kn. According to the depth d of the underwater part of the investigation equipment in the investigation task and the inclination angle of the steel wire rope measured by the angle meter 15, the length l of the steel wire rope to be released is calculated to be (d + d)1) And/sin (90-), then, electrifying the alternating current motor 19, automatically unlocking the steel wire rope reel 20, rotating forwards to release the steel wire rope 12 to a specified length l, and then, powering off to automatically lock the steel wire rope reel 19.
S9, measuring the offset position (x) of the right end of the telescopic arm along the x axis relative to the GPS antenna1,y1,z1) The included angle theta between the wire rope and the horizontal direction is calculated to be 90-according to the angle meter 15, the wire rope is assumed to be a straight line under water, and the position (x, y, z) of the underwater investigation equipment relative to the GPS antenna center is calculated according to the released wire rope length l and the included angle theta between the wire rope and the horizontal direction.
Taking the center of a GPS antenna on the survey ship as an original point, the coordinate of the tail end of the telescopic boom relative to the GPS is (x)1,y1,z1) And the coordinates of the underwater surveying equipment relative to the GPS antenna center are (x, y, z):
wherein the underwater investigation equipment has a water penetration depth d ═ l · sin θ -d1，d1The distance from the right tail end of the telescopic boom to the water surface along the x axis is equal to the included angle between the steel wire rope and the horizontal direction, and the theta is equal to 90-; and the real position of the underwater investigation equipment can be calculated according to the world coordinates of the antenna of the GPS.
S10, for the investigation task needing fixed-point observation, calculating the depth d of the underwater part of the investigation equipment needing to enter water according to the water depth, the observation depth and the layer requirements; according to the inclination angle of the steel wire rope under the action of ocean current scouring measured by the angle meter 15, the length l of the steel wire rope to be released is calculated to be (d + d)1) And/cos, then the alternating current motor 19 is electrified, the steel wire rope reel 20 is automatically unlocked, the motor forward rotation switch 23 is turned on, the motor rotates forward, the steel wire rope 12 is released to the specified length l, then the power is cut off, and the steel wire rope reel 20 is automatically locked.
And S11, repeating the processes of S8-S10 every 0.5m in the process of releasing the steel wire rope and entering the water by the underwater surveying equipment, and calculating the release length l of the steel wire rope 12 and the position (x, y, z) of the underwater surveying equipment relative to the center of the GPS antenna.
S12, stopping the survey ship after the survey is finished; then, the alternating current motor 19 is electrified, the steel wire rope reel 20 is automatically unlocked, the motor reversing switch 23 is turned on, the alternating current motor 19 reverses, the steel wire rope 12 is recovered, the top of the underwater investigation equipment is tightly attached to the angle meter, then the power is cut off, and the steel wire rope reel 20 is automatically locked. The first communication interface 24 and the second communication interface 25 are disconnected from the computer.
S13, the vertical shaft locking pin 5 is loosened, and at the same time, the hauling cable connected with the telescopic boom hoisting ring 14 is untied, and the upper hoisting part is rotated to the inner side of the ship board.
And S14, electrifying the alternating current motor 19, automatically unlocking the steel wire rope reel 20, turning on the motor forward switch 23, rotating the motor forward, lowering the underwater investigation equipment onto the deck, and unwinding the steel wire rope.
S15, the telescopic arm locking pin 9 is released, the telescopic arm transmission gear 11 is rotated to retract the telescopic arm 10 to the initial position, and then the telescopic arm locking pin 9 is locked.
And S16, electrifying the alternating current motor 19, automatically unlocking the steel wire rope reel 20, reversely rotating the alternating current motor 19, and retracting the tail end of the steel wire rope to the angle meter 15. The ac motor 19 is then de-energized and the cord reel 20 automatically locks. The counter 16 is cleared and closed, while the goniometer 14 is closed.
S17, loosening the clamp locking pin 2, taking down the clamp 1 together with the upper assembly from the ship board, washing with fresh water, airing, uniformly painting butter on the rotating part and the bolt to play a role in rust prevention and lubrication, and packaging and storing after finishing.
In summary, it can be seen that the principle of the present invention is: the steel wire rope 12 is wound and unwound by controlling the forward and reverse rotation of the alternating current motor 19 to drive the steel wire rope reel 20 to rotate forward and reverse, and the steel wire rope 12 in the x-axis direction is converted into a direction rotating around the x-axis in the yoz plane through the three guide pulleys 13. And calculating the underwater position of the underwater investigation equipment through the angle between the steel wire rope 12 and the horizontal direction and the release length of the steel wire rope 12 measured by the angle meter 15 and the counter 16. The supporting bomb 6 has a certain heave compensation effect, and when the investigation ship rolls and shakes, the underwater investigation equipment can be kept stable in underwater posture to a certain extent. The invention can measure the underwater position of the underwater investigation equipment in a shallow water area (less than 20m) which can not be used by an Ultra Short Base Line (USBL), and the measurement precision is 0.5 m. Compared with the existing calculation method, the calculation accuracy of the angle and the rope length is higher, the calculation accuracy of the underwater position is higher, certain heave compensation can be provided, and the underwater posture of the underwater investigation equipment is more stable. The data measurement precision and the data quality can be improved, and more accurate and reliable data information can be provided. The invention can be used for various small-sized survey ships and is convenient to install.
The technical scheme in the embodiment of the application at least has the following technical effects or advantages:
in the embodiment of the application, an underwater investigation equipment collecting and releasing and underwater position measuring system is disclosed, comprising: the fixing device is used for fixing on a ship board of the survey ship; the system adopts a coordinate system of an investigation ship, the center of the investigation ship is taken as an origin, the heading of the ship is taken as a y-axis, and the forward direction is positive; the starboard direction is the x axis, and the starboard direction is positive; the vertical direction is the z-axis and the upward direction is positive; the lifting device is arranged on the fixing device and can rotate on the fixing device along the horizontal direction; the lifting device comprises a supporting arm and a telescopic arm, wherein the supporting arm is connected with the telescopic arm, and the telescopic arm can extend out 500mm in the x-axis direction, so that the total length of the supporting arm and the telescopic arm is adjusted between 1100mm and 1600 mm; a steel wire rope reel is arranged at the tail end of the supporting arm, a steel wire rope is wound on the steel wire rope reel, one end of the steel wire rope is connected with the steel wire rope reel, the other end of the steel wire rope reaches the tail end of the telescopic arm, and the other end of the steel wire rope is used for being connected with underwater investigation equipment; the underwater position measuring device is arranged on the hoisting device and comprises a goniometer and a length measuring device, the goniometer is used for measuring the included angle of the steel wire rope in the yoz plane and the vertical direction, the length measuring device is used for measuring the length l of the steel wire rope, and the included angle and the length l can be used for calculating the underwater position of the underwater investigation equipment. The system is simple to operate and reliable in performance, can adjust the position of the underwater investigation equipment in real time and measure the underwater position of the underwater investigation equipment, can be applied to retraction and release of the underwater investigation equipment and underwater position measurement when a small investigation ship measures in a shallow water area, and can obtain the more accurate underwater position of the underwater investigation equipment.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The utility model provides an underwater investigation equipment receive and releases and position measurement system under water which characterized in that includes:
the fixing device is used for fixing on a ship board of the survey ship; the system adopts a coordinate system of an investigation ship, the center of the investigation ship is taken as an origin, the heading of the ship is taken as a y-axis, and the forward direction is positive; the starboard direction is the x axis, and the starboard direction is positive; the vertical direction is the z-axis and the upward direction is positive;
the lifting device is arranged on the fixing device and can rotate on the fixing device along the horizontal direction; the lifting device comprises a supporting arm and a telescopic arm, wherein the supporting arm is connected with the telescopic arm, and the telescopic arm can extend out 500mm in the x-axis direction, so that the total length of the supporting arm and the telescopic arm is adjusted between 1100mm and 1600 mm; a steel wire rope reel is arranged at the tail end of the supporting arm, a steel wire rope is wound on the steel wire rope reel, one end of the steel wire rope is connected with the steel wire rope reel, the other end of the steel wire rope reaches the tail end of the telescopic arm, and the other end of the steel wire rope is used for being connected with underwater investigation equipment;
the underwater position measuring device is arranged on the hoisting device and comprises a goniometer and a length measuring device, the goniometer is used for measuring the included angle of the steel wire rope in the yoz plane and the vertical direction, the length measuring device is used for measuring the length l of the steel wire rope, and the included angle and the length l can be used for calculating the underwater position of the underwater investigation equipment.
2. The system of claim 1, wherein the fixture comprises:
a clamper;
a clamper locking pin disposed at a side of the clamper;
the upright post is vertically fixed on the clamping device and is divided into two sections, namely an upper half section of upright post and a lower half section of upright post.
3. The system of claim 2, wherein the support arm is disposed at a top end of the column, the support arm being coupled to the column via a support arm bearing.
4. The system of claim 3, wherein the lifting device further comprises:
the vertical rotating shaft is sleeved outside the joint of the upper half-section upright column and the lower half-section upright column and is fixedly connected with the upper half-section upright column, and the vertical rotating shaft can rotate 360 degrees in the horizontal direction so as to drive the upper half-section upright column to rotate 360 degrees in the horizontal direction;
and the vertical rotating shaft locking pin is arranged on the side surface of the vertical rotating shaft and used for locking the relative positions of the upper half section of upright post and the lower half section of upright post.
5. The system of claim 4, wherein the lifting device further comprises:
the telescopic arm transmission gear is arranged below the telescopic arm and used for adjusting the extending length of the telescopic arm;
and the telescopic arm locking pin is arranged on the telescopic arm and used for locking the positions of the telescopic arm and the supporting arm.
6. The system of claim 5, wherein the lifting device further comprises:
supporting spring, set up the stand with between the support arm, supporting spring with contained angle between the stand is 45, supporting spring with contained angle between the support arm is 45, supporting spring rigidity is 80kN/m, and compression and extension stroke is 50 mm.
7. The system of claim 6, wherein a boom hoist ring is provided at the end of the boom.
8. The system of claim 7, wherein the lifting device further comprises:
and the alternating current motor is arranged at the tail end of the supporting arm and connected with the steel wire rope reel, and the alternating current motor is used for driving the steel wire rope reel to rotate so as to control the winding and unwinding of the steel wire rope.
9. The system of claim 8, wherein the length measuring device comprises:
the counter rotating wheel is connected with the steel wire rope rotating shaft, the steel wire rope bypasses the counter rotating wheel, and the steel wire rope drives the counter rotating wheel to rotate in the process of winding and unwinding the steel wire rope;
the counting sensor is connected with the counter rotating wheel and is used for detecting the rotation of the counter rotating wheel;
and the counter is connected with the counting sensor and used for counting the rotating number of turns of the counter rotating wheel through the counting sensor, wherein the rotating number of turns of the counter rotating wheel can be used for calculating the length l of the steel wire rope.
10. The system of claim 9, further comprising a control circuit, the control circuit comprising:
the alternating current power supply is connected with the alternating current motor, the counting sensor and the counter;
the motor forward and reverse rotation switch is connected between the alternating current power supply and the alternating current motor in series and is used for controlling forward rotation and reverse rotation of the alternating current motor;
the motor speed regulator is connected with the alternating current motor and is used for regulating the rotating speed of the alternating current motor;
the first communication interface is connected with the counter and is used for connecting a computer;
the second communication interface is connected with the goniometer and is used for connecting a computer;
wherein the computer is to: and receiving the length l through the first communication interface, receiving the included angle through the second communication interface, and calculating the underwater position of the underwater investigation equipment relative to the investigation ship based on the included angle and the length l.
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| CN112066953B (en) | 2022-06-03 |
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