CN112612022A - 探地雷达在浅水域中探测装置 - Google Patents
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Abstract
本发明涉及一种探地雷达在浅水域中探测装置,探地雷达安置在无人船底部中心位置,所述无人船的船体尾部两侧设置螺旋桨机构,船体中部设置有GPS装置,GPS装置通过数据通讯线与探测装置连接,船体前、后部安装摄像头装置,船体内装有无线控制通讯装置,无线控制通讯装置中的调速电机连接螺旋桨机构,并通过无线远程控制装置连接无线信号发射接收装置。本发明采用无人机及水上定位装置进行定位,无人船的远程控制方法结合探地雷达探测,能更快速方便的进行水下障碍物的探测,实时、直观的探测到水下障碍物具体位置深度等情况,解决了原有需要水下人工探摸或围堰开挖才能了解水下障碍物的位置情况,节省了人力物力,提高了施工效率和安全系数。
Description
技术领域
本发明涉及一种利用探地雷达探测的装置,尤其是一种探地雷达浅水域中的探测装置。
背景技术
在航道及港口等水上工程施工前,探明水下障碍物及分布情况,是项目工程设计、施工的最基本的前提条件。通过地球物理勘察技术(简称物探)进行对水下障碍物的探查工作,物探是以探测目标与其周围物体之间的物理特性的差异为物质基础,利用物理学原理通过观测和研究物理场的空间与时间分布规律以实现寻找特定目标物。在进行物探工作前要根据寻找目标与其周围的物体特性的差异大小来选择相应的物探方法,目前,在上述工程中主要应用探地雷达来探测障碍物。
不过在实际河岸、潜水道等施工中,针对水下障碍物大多采用传统人工探摸及围堰大开挖等方法来进行水下障碍物的探测,这种方法需要花费大量的人力和物力,而且工作效率很低,在水中进行人工探摸存在较大的风险,综上所述目前还没有克服以上缺点满足涉及水上工程中对水下障碍物探测需求的有效方法。
发明内容
本发明就是为了解决上述水下障碍物探测需求,提供一种探地雷达在浅水域中探测装置,该装置操作简单能浅水域中进行物探的装置,做到快速、准确,有效提高探测效率、施工质量及施工效率。
为了实现上述的目的,本发明的技术方案是:一种探地雷达在浅水域中探测装置,包括探测装置、无人船、GPS装置、摄像头装置、无线控制通讯装置、水上定位装置,所述探测装置包括探地雷达和平板电脑,所述探地雷达安置在无人船底部中心位置,所述无人船的船体尾部两侧设置螺旋桨机构,所述船体中部设置有GPS装置,所述GPS装置通过数据通讯线与探测装置连接,所述船体前部和后部安装摄像头装置,所述船体四周安装四个固定环,所述船体内装有无线控制通讯装置,所述无线控制通讯装置包括调速电机、无线远程控制装置、无线信号发射接收装置、无人船控制终端,所述调速电机输出轴连接螺旋桨机构,所述调速电机通过无线远程控制装置连接无线信号发射接收装置,所述无线信号发射接收装置通过无线通讯方式与无人船控制终端通讯连接。
进一步,所述水上定位装置包括无人机、强磁、红外线发射器、浮台,所述浮台上部安装红外线发射器,顶部中心安装强磁;无人机底部安装强磁,并通过强磁与浮台顶部的强磁连接,用于运送浮台至水面指定位置。
进一步,所述浮台底部为聚苯乙烯泡沫塑料,底部安装一组为PVC材质圆柱状平衡杆。
进一步,所述摄像头装置为红外线追踪摄像头,在进行探测时追踪水上定位装置。
本发明同现有技术相比,具有以下优点及有益效果:
本发明采用无人机及水上定位装置进行定位,无人船的远程控制方法结合探地雷达探测,能更快速方便的进行水下障碍物的探测,实时、直观的探测到水下障碍物具体位置深度等情况,解决了原有需要水下人工探摸或围堰开挖才能了解水下障碍物的位置情况,不仅节省了人力物力,提高了施工效率和安全系数。
附图说明
图1是本发明采用的探测装置示意图;
图2是水上定位装置示意图;
图3是本发明探测的示意图。
具体实施方式
以下将结合附图对本发明作进一步详细说明。
应该指出,以下详细说明都是例示性的,旨在对本申请提供进一步的说明。除非另有指明,本文使用的所有技术和科学术语具有与本申请所属技术领域的普通技术人员通常理解的相同含义。
如图1、图2所示,一种探地雷达在浅水域中探测装置,包括探测装置1、无人船2、GPS装置3、摄像头装置4、无线控制通讯装置5、水上定位装置6。
探测装置1包括探地雷达101、雷达电源102、平板电脑103。探地雷达101安放在无人船2底部中心位置,无人船2包括船体、螺旋桨机构201、固定环202。船体尾部两侧设置螺旋桨机构201,船体中部设置有GPS装置3,GPS装置3包括连接杆301、数据通讯线302。GPS装置3通过连接杆301安装在船体中部,并由数据通讯线302与探测装置1相连接,船体前部和后部安装摄像头装置4,船体四周安装四个固定环202,船体内还设置无线控制通讯装置5。无线控制通讯装置5包括调速电机501、开关控制器502、电源503、无线远程控制装置504、无线信号发射接收装置505、无人船控制终端506。调速电机501输出轴连接螺旋桨机构201,调速电机501通过开关控制器502连接电源503,以及通过无线远程控制装置504连接无线信号发射接收装置505,无线信号发射接收装置505通过无线通讯方式与无人船控制终端506通讯连接。水上定位装置6包括无人机601、强磁602、红外线发射器603、浮台604、平衡杆605。浮台604底部为聚苯乙烯泡沫塑料,底部安装一组为PVC材质圆柱状平衡杆605,上部安装红外线发射器603,顶部中心安装强磁602;无人机601底部安装强磁602可与浮台604顶部的强磁602连接,运送浮台604至水面指定位置。
探地雷达101为全屏蔽主机双频天线,可通过无线网络进行数据传输。摄像头装置4为红外线追踪摄像头,在进行探测时追踪水上定位装置6。
如图3所示,使用本发明的探地雷达在浅水域中探测装置的具体方法:
(1)控制无人机601先飞至待测水域上,进行探测区域四个点的坐标采集定位,探测起始点和终点的坐标采集定位,定位点的坐标采集;
(2)通过采集的坐标位置,规划水上探测区域的探测路径:测线起始点及定位点等测线路径及方向。
(3)利用无人机601通过强磁602与水上定位装置6连接,运送水上至规划第一条测线的定位点位置,开启红外线发射器603,方向对准测线起点位置。
(4)安放探测装置1于无人船2中,通过连接杆301将GPS装置3安装在探测装置1的中心位置,钢索套入固定环202将无人船2吊装至水域中。无人船控制终端506通过无线远程控制模块504使无人船2行驶至待测水域中的起始位置。
(5)设置好无人船2行进方向和速度,开启摄像头装置4,通过红外线摄像头跟踪水上定位装置6上红外线发射器603所发射出红外线,控制无人船使搭载在其中间的探地雷达101按照设定好的测线路线进行雷达信号发射并采集,GPS装置3并同时进行行径路线的坐标采集至终点位置。
(6)初始数据采集完毕,探测装置1中探地雷达101所采集的数据图像通过无线传输至平板电脑103上,进行数据处理,然后拟合探测区域的水深,计算与实际水深的误差,在此基础上调整雷达波速与实际水深吻合。
(7)通过无线控制通讯模块、连接探地雷达的GPS装置所采集的定位信息,重新定位,无人船控制终端506通过无线控制通讯模块控制504无人船2行驶至待测水域中起始位置,无人机601通过强磁602与水上定位装置6连接,运送水上至定位点。
(8)开启摄像头装置4,通过红外线摄像头跟踪水上定位装置6上红外线发射器603所发射出红外线,控制无人船使搭载在其中间的探地雷达101按照设定好的测线路线进行雷达信号发射并采集,GPS装置3并同时进行行径路线的坐标采集至终点位置。
(9)所有测线数据采集完毕,完成水上探测工作。探测装置1中探地雷达101所采集的数据图像通过无线传输至平板电脑103上,进行数据处理,结合采集时的定位信息,最终将所测水域下的土层雷达成果图上展示出来。
上述实施例仅用于说明本发明技术方案及原理,其中各部件的结构、连接方式,等都是可以有所变化的,凡是在本发明技术方案的基础上进行的等同变换和改进来达到本发明所应体现的效果,均不应排除在本发明的保护范围之外。
Claims (4)
1.一种探地雷达在浅水域中探测装置,包括探测装置、无人船、GPS装置、摄像头装置、无线控制通讯装置、水上定位装置,其特征在于:所述探测装置包括探地雷达和平板电脑,所述探地雷达安置在无人船底部中心位置,所述无人船的船体尾部两侧设置螺旋桨机构,所述船体中部设置有GPS装置,所述GPS装置通过数据通讯线与探测装置连接,所述船体前部和后部安装摄像头装置,所述船体四周安装四个固定环,所述船体内装有无线控制通讯装置,所述无线控制通讯装置包括调速电机、无线远程控制装置、无线信号发射接收装置、无人船控制终端,所述调速电机输出轴连接螺旋桨机构,所述调速电机通过无线远程控制装置连接无线信号发射接收装置,所述无线信号发射接收装置通过无线通讯方式与无人船控制终端通讯连接。
2.根据权利要求1所述的探地雷达在浅水域中探测装置,其特征在于:所述水上定位装置包括无人机、强磁、红外线发射器、浮台,所述浮台上部安装红外线发射器,顶部中心安装强磁;所述无人机底部安装强磁,并通过强磁与浮台顶部的强磁连接,用于运送浮台至水面指定位置。
3.根据权利要求2所述的探地雷达在浅水域中探测装置,其特征在于:所述浮台底部为聚苯乙烯泡沫塑料,底部安装一组为PVC材质的圆柱状平衡杆。
4.根据权利要求1所述的探地雷达在浅水域中探测装置,其特征在于:所述摄像头装置为红外线追踪摄像头,在进行探测时追踪水上定位装置。
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