CN112478067B

CN112478067B - Intelligent waterproof grass deploying and retracting probe pneumatic unmanned survey ship and survey method thereof

Info

Publication number: CN112478067B
Application number: CN202011421132.3A
Authority: CN
Inventors: 徐路; 王巍
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-12-08
Filing date: 2020-12-08
Publication date: 2023-03-21
Anticipated expiration: 2040-12-08
Also published as: CN112478067A

Abstract

The invention relates to a waterproof grass intelligent retractable probe pneumatic unmanned survey ship and a surveying method thereof. The invention adopts a telescopic electric telescopic rod matched with a pneumatic propulsion mode, has no equipment protruding out of the ship bottom in the retraction and release operation process, can directly tow the ship into water, can finish operation without touching water, and improves the convenience of operation. For water areas such as mud beaches, reed swings and the like, the pneumatic unmanned surveying vessel can be driven by sufficient power to flush the beaches, and the reach of operators is achieved. The invention can lead the sonar probe to deeply penetrate through the floating aquatic plants through the retracting and releasing functions of the electric telescopic rod, and the surveying method provided by the invention can realize the accurate surveying of aquatic water areas.

Description

Intelligent waterproof grass deploying and retracting probe pneumatic unmanned survey ship and survey method thereof

Technical Field

The invention belongs to the field of unmanned equipment, and relates to an unmanned ship, in particular to a waterproof grass intelligent retractable probe pneumatic unmanned survey ship and a survey method thereof.

Background

Most unmanned reconnaissance boat in the market at present adopts underwater propulsor to match with reconnaissance sonar probe at fixed position, although can accomplish the reconnaissance operation demand of water purification waters or ocean, to spring festival and summer and the long-term mad pasture and water waters of four seasons such as river course, lake, reservoir and pool, etc., influenced by pasture and water surface debris, the screw, jet pump, pipe oar etc. all can be twined by pasture and water, fishing net, debris and lead to unmanned boat can't advance, and the stronger protection casing of screw protection and jet pump inhale the foreign matter more easily and injure the impeller. If the lower part of the sonar is filled with the aquatic weeds at a short distance, the actually measured numerical value is not the actual underwater depth, but the distance from the floating or suspended aquatic weeds to the sonar.

In addition, great care is required to prevent damage to the propeller and the probe mount during operation of the unmanned survey vessel. Shallow water is also limited by sonar blind areas and propeller draught.

The existing unmanned ship has the following problems and defects:

1. more protection measures are added to prevent the unmanned ship from bottoming, but the draught of the whole ship is increased, and the exploration requirement of a shallow pool is not met.

2. The sonar probe and the ship bottom are integrated into a whole to be in smooth transition, the influence on the single-beam sonar probe is small, but the single-beam sonar probe and the side-scan sonar probe with large beam angles cannot be realized, and the scanning range influenced by the wave speed angle can be reduced by integrally embedding the sonar probe and the ship bottom into the ship belly. In addition, even if the sonar is made into a smooth transition mode, the propeller still needs to be below a ship waterline, and the propeller still has the risk of being influenced by aquatic weeds and sundries. And the influence of the floating float grass belt on the survey precision can not be broken through in the area with dense redundant float grass.

3. The spraying pump is used for propulsion, although the spraying pump has certain filtering capacity on soft waterweeds and large floating objects, the water inflow is reduced, if the waterweeds grow excessively, the water inlet of the spraying pump can be blocked, the larger the air filter of the spraying pump is, the stronger the vacuum suction effect is, and the more easily sundries are sucked to damage the impeller of the spraying pump. In addition, the propulsion speed of the jet pump is very fast, even greater than 3 m/S, which greatly exceeds the refresh frequency and precision of sonar and GPS/RTK (the data update frequency of most of sonar does not exceed 1 HZ), that is to say, the positioning displacement of the ship exceeds 3m within 1 second, which affects the horizontal accuracy of measurement.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a waterproof grass intelligent retractable probe pneumatic unmanned surveying vessel capable of accurately surveying in a water area of waterweeds and a surveying method thereof.

The technical scheme adopted by the invention for solving the technical problem is as follows:

a pneumatic unmanned survey ship comprises a ship body and a controller, wherein a probe is installed on the ship body through a probe position adjusting mechanism, and the probe position adjusting mechanism is used for adjusting the position of the probe under water.

Moreover, the probe is sonar. The sonar is a single-beam sonar, a side-scan sonar or a multi-beam imaging probe.

Moreover, the probe position adjusting mechanism comprises a probe depth adjusting mechanism.

Moreover, the probe depth adjusting mechanism is an electric telescopic rod.

Moreover, the probe position adjusting mechanism also comprises a probe angle adjusting mechanism.

And the probe position adjusting mechanism is connected with the controller, and the controller is connected with the remote controller.

And an RTK antenna is arranged above the probe, and the RTK antenna and the probe are in a straight line.

And the hull is a U-shaped inflatable hull, and a fan power system is arranged above the rear part of the hull.

The surveying method of the pneumatic unmanned surveying vessel comprises the following steps: when the operation survey is performed in the water area with luxuriant aquatic plants, the unmanned survey ship runs along a parallel water course line of the water bank, the sonar probe is placed once when the ship is stopped at intervals of 5 or 10 meters to obtain depth data, if the obtained depth data are obviously smaller than the depth of the last point, the probe is judged to be influenced by the aquatic plants, and the sonar probe is placed by the unmanned ship for 10-30CM or moved for 1-2 meters and then placed again for measurement.

The depth data has an algorithm formula as follows: h = H- [ H1+ d1+ d2 ]. Deviation-correcting constant, wherein H is depth data, H is the elevation of the international standard satellite positioning protocol NMEA0183, H1 is the distance difference between the bottom surface of the RTK antenna and the water surface, d1 is the initial depth of the sonar probe under water, and d2 is the depth of the electric telescopic rod which is put down. The deviation-correcting constant is a cosine function of the beam angle.

The invention has the advantages and positive effects that:

1. the invention adopts a telescopic electric telescopic rod matched with a pneumatic propulsion mode, has no equipment protruding out of the ship bottom in the retraction and release operation process, can directly tow the ship into water, can finish operation without touching water, and improves the convenience of operation. For water areas such as mud beaches, reed swaying and the like, the pneumatic unmanned survey vessel can be driven by sufficient power to wash the beaches, and the reach range of operators is reached.

2. The invention adopts the electric telescopic rod to enhance the reliability of the sonar probe, not only prevents the support bottom from being damaged during the operation and the retraction process of the sonar probe, but also can lead the sonar probe to deeply penetrate through the floating aquatic plants through the retraction function of the electric telescopic rod, and the survey method provided by the invention can realize the accurate survey of aquatic areas.

3. The pneumatic unmanned ship has no equipment parts soaked in water for a long time, so that the reliability is improved, the service life is prolonged, the corrosion rate of the propeller is low, and the use and maintenance cost is low.

4. The invention adopts an inflatable boat structure, can be conveniently transported, can increase the redundant buoyancy of the boat, and has lower production cost intersected with glass fiber reinforced plastic, carbon fiber, aluminum alloy, rotational molding and the like.

Drawings

FIG. 1 is a front view of a pneumatic unmanned survey vessel according to an embodiment 1 of the present invention;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a right side view of FIG. 1;

fig. 4 is a schematic perspective view of the pneumatic unmanned survey vessel according to example 1.

Fig. 5 is a diagram showing a use state of the pneumatic unmanned survey vessel according to embodiment 1 of the present invention (with the electric telescopic rod retracted).

Fig. 6 is a diagram showing a use state of the pneumatic unmanned survey vessel (with the electric telescopic rod extended) according to embodiment 1 of the present invention.

FIG. 7 is a front view of a pneumatic unmanned survey vessel according to an embodiment 2 of the present invention;

FIG. 8 is a top view of FIG. 7;

FIG. 9 is a left side view of FIG. 7;

fig. 10 is a schematic perspective view of the pneumatic unmanned survey vessel according to example 2.

FIG. 11 is a photograph of a pneumatic unmanned survey vessel according to example 1 of the present invention;

FIG. 12 is a view showing the navigation state (in the sea area) of the pneumatic unmanned survey vessel according to embodiment 1 of the present invention;

FIG. 13 is a view showing a navigation state of a pneumatic unmanned survey vessel according to example 2 of the present invention;

FIG. 14 is a schematic view of the working state of the probe in the sea area of the pneumatic unmanned survey vessel according to the embodiment 2 of the present invention;

FIG. 15 is a schematic view of underwater elevation calculations;

fig. 16 is a schematic diagram showing a relationship between a sonar depth measurement value and a beam angle.

Detailed Description

The present invention is further illustrated by the following specific examples, which are intended to be illustrative, not limiting and are not intended to limit the scope of the invention.

Example 1:

a waterproof grass intelligent probe deploying and retracting pneumatic unmanned surveying vessel is shown in figures 1-6 and comprises a vessel body 1, a probe position adjusting mechanism, a controller 2 and a battery, wherein the vessel body is a U-shaped inflatable vessel body, the controller is installed at the front part of the vessel body, the probe position adjusting mechanism is installed in the middle of the vessel body, and a fan power system is installed at the rear part of the vessel body.

The top surface of the ship body is fixedly provided with an object carrying platform 9 which is of a grid type, the front side of the object carrying platform is fixedly provided with a controller, the object carrying platform is fixedly provided with a bracket 5, and the bracket is provided with a single fan pushing mechanism.

Single fan pushing mechanism includes fan 7, fan safety cover 6, rudder plate 8 and steering wheel, the fan is installed on the support, the fan safety cover is the arch, centers on the fan installation, at fan safety cover's rear side top welding rudder plate supporting beam 12, two backup pads of vertical installation 16 between rudder plate supporting beam and cargo platform, two backup pads interval certain distance, all adorn a rudder plate through the hinge 15 hinge in each backup pad, two rudder plate parallel arrangement, two rudder plates link together through connecting rod structure 10, connecting rod structure links together with the steering wheel, adorns two battery casees admittedly at the bilateral symmetry of fan safety cover.

Probe position adjustment mechanism includes electric telescopic handle 4, telescopic link support 3 and sonar probe 11, and the telescopic link support is adorned admittedly on the support, and a vertical electric telescopic handle of adorning admittedly on the telescopic link support, electric telescopic handle extends the hull bottom from cargo platform's fretwork position, at electric telescopic handle's bottom installation sonar probe, the sonar probe passes through angle adjustment mechanism and is connected with electric telescopic handle, angle adjustment mechanism includes support 13, pivot and probe bracket 14, the support is adorned admittedly in electric telescopic handle's bottom surface, probe bracket twists the dress through pivot and support and is connected, adorns sonar probe admittedly in probe bracket's bottom surface.

Electric telescopic handle adopts the stainless steel to add the aluminum alloy and makes, and electric telescopic handle has potentiometre servo, and the concrete length position of receiving and releasing is known to the accessible potentiometre, and electric telescopic handle's receive and release function is realized through direct current screw motor, and electric telescopic handle passes through the PWM circuit and links to each other with the controller, and the controller passes through receiving and releasing of PWM signal control electric vaulting pole, and the controller passes through digital link and links to each other with remote control. The every single move angle that angle adjustment mechanism can adjust sonar probe, according to IMU (gyroscope) tilt data around the experimental data feedback after unmanned ship operation, the artifical every single move angle who sets for probe support, when electric telescopic handle is in the state of packing up, sonar probe's position is higher than the hull bottom, has avoided the support end and pasture and water winding problem. The RTK antenna is installed at the top of the electric telescopic rod, the RTK antenna and the sonar are located on the same straight line, and the consistency of the measured sonar data position and the actual RTK measuring point position is guaranteed.

The upper portion at the support installation sonar host computer, the sonar host computer carries out data interchange through serial ports and the controller on the cargo platform, and when the minimum blind area (generally 0.5 meter) of measuring degree of depth value reached sonar, the sonar probe automatic rising income lock, prevents that the sonar probe from holding in the palm the end.

Example 2:

a waterproof grass intelligent probe deploying and retracting pneumatic unmanned surveying vessel is shown in figures 7-10 and comprises a vessel body 1 and a carrying platform 9, wherein the vessel body is a U-shaped inflatable vessel body, the carrying platform is fixedly arranged on the top surface of the vessel body, a support 5 is fixedly arranged on the top surface of the carrying platform, a controller 2 is arranged in the middle of the top surface of the support, a double-fan pushing mechanism is arranged on the rear side of the top surface of the support, the double-fan pushing mechanism comprises two fans 7, and the two fans are propelled and controlled by the controller in a differential mode. The probe position adjusting mechanism is fixedly installed at the top end of the front side of the support, the structure of the probe position adjusting mechanism is the same as that of the probe position adjusting mechanism in embodiment 1, and a through hole is formed in the position, corresponding to the electric telescopic rod of the probe position adjusting mechanism, on the carrying platform, so that the electric telescopic rod can penetrate out of the through hole. A battery box 17 is fixedly arranged below the bracket on the top surface of the carrying platform.

The invention also provides a surveying method of the intelligent probe-retracting pneumatic unmanned surveying vessel based on the waterproof grass, which comprises the following steps:

step 1, inflating the unmanned survey vessel body, starting up the unmanned survey vessel after the inflation is finished, and pushing the unmanned survey vessel into water.

And 2, carrying out automatic measurement on the unmanned survey vessel according to a planned route or carrying out measurement by remote control.

And 3, when the operation survey is performed in the water area with luxuriant aquatic plants, the unmanned survey vessel runs along a parallel water course along the water bank, the sonar probe is placed down once when the vessel is stopped at intervals of 5 or 10 meters to obtain depth data, if the obtained depth data are obviously smaller than the depth of the last point, the probe is judged to be influenced by the aquatic plants, and the sonar probe is placed down by 10CM again by the unmanned vessel or the probe is placed down again after the unmanned vessel moves for 1-2 meters for measurement.

In this step, the sonar probe automatically records the measurement data, then transmits to the bank base station through 433M data transmission system, and the bank base station carries out the monitoring of visual map through PC software, and the monitoring data contains international standard satellite positioning protocol NMEA0183 positioning data and depth data.

The depth data has an algorithm formula as follows: h = H- [ H1+ d1+ d2 ]. Deviation-correcting constant, where H is depth data, H is NMEA0183 elevation, H1 is the distance difference between the RTK antenna and the water surface, d1 is the initial depth of the sonar probe under water, and d2 is the length of the electric telescopic rod which is lowered, as shown in fig. 15. The de-skew constant is a fixed value of 0.973, typically (COS single beam angle).

In fig. 16, D1 is a numerical value measured by sonar, that is, the length from the hypotenuse of the sound wave to the water bottom along the wave velocity angle, D is an actual depth value, α is a beam angle, and according to a triangular relationship, a deviation correction parameter is obtained as a COS beam angle, and the actual depth D is D1 × COS α.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the inventive concept, and these changes and modifications are all within the scope of the present invention.

Claims

1. A surveying method of a pneumatic unmanned surveying vessel is characterized in that: when the operation survey is carried out in the water area with lush aquatic plants, the pneumatic unmanned survey ship runs along a parallel air route on the water bank, the sonar probe is put down once when the ship is stopped at intervals of 5 or 10 meters to obtain depth data, if the obtained depth data is obviously smaller than the depth of the last point, the probe is judged to be influenced by the aquatic plants, and the sonar probe is put down by 10-30CM by the pneumatic unmanned survey ship or is put down again for measurement after moving for 1-2 meters;

the depth data has an algorithm formula as follows: h = H- [ H1+ d1+ d2 ]. Deviation-correcting constant, wherein H is depth data, H is the elevation of the international standard satellite positioning protocol NMEA0183, H1 is the distance difference between the bottom surface of the RTK antenna and the water surface, d1 is the initial depth of the sonar probe under water, d2 is the depth of the electric telescopic rod which is put down, and the deviation-correcting constant is the cosine function of the beam angle;

the adopted pneumatic unmanned surveying vessel comprises a vessel body and a controller, wherein a probe is installed on the vessel body through a probe position adjusting mechanism, the probe position adjusting mechanism is used for adjusting the position of the probe under water, the probe is a sonar, the probe position adjusting mechanism comprises a probe depth adjusting mechanism, the probe depth adjusting mechanism is an electric telescopic rod, the probe position adjusting mechanism is connected with the controller, the controller is connected with a remote controller, the vessel body is a U-shaped inflatable vessel body, a fan power system is installed above the rear part of the vessel body, when the electric telescopic rod is in a folding state, the position of the sonar probe is higher than the bottom of the vessel, an RTK antenna is installed at the top of the electric telescopic rod, the RTK antenna and the sonar are in a straight line, the consistency of the measured sonar data position and the actual RTK measuring point position is ensured, a carrying platform is fixedly installed on the top surface of the vessel body, a support is fixedly installed on the carrying platform, a main sonar host is installed on the upper part of the support, and the sonar host carries out data exchange with the controller on the carrying platform through a serial port, and when the measured depth value reaches the minimum depth of the sonar, the probe is automatically raised;

the device comprises a probe position adjusting mechanism, a sonar probe, an electric telescopic rod, a support, a rotating shaft and a probe support, wherein the sonar probe is connected with the electric telescopic rod through the angle adjusting mechanism;

the pneumatic unmanned surveying vessel carries out automatic measurement or measures through the remote control according to the routing, and sonar probe automatic recording measured data then transmits to bank base station through 433M data transmission system, and bank base station carries out the monitoring of visual map through PC software, and monitored data contains international standard satellite positioning protocol NMEA0183 positioning data and depth data.