CN115014305B - Water area surveying and mapping device and method for surveying and mapping ocean engineering - Google Patents
Water area surveying and mapping device and method for surveying and mapping ocean engineering Download PDFInfo
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- CN115014305B CN115014305B CN202210947722.2A CN202210947722A CN115014305B CN 115014305 B CN115014305 B CN 115014305B CN 202210947722 A CN202210947722 A CN 202210947722A CN 115014305 B CN115014305 B CN 115014305B
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
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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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Abstract
The invention relates to a water area surveying and mapping device and a water area surveying and mapping method for oceanographic engineering surveying and mapping, and belongs to the technical field of surveying and mapping. The rope passes through make under the effect of second serving wheel and third serving wheel the surveying instrument with the rope forms predetermines the contained angle scope to control through adjusting predetermineeing the contained angle scope the perpendicular whereabouts of surveying instrument. According to the invention, the first reels and the adjusting mechanisms are arranged in four directions, so that the surveying and mapping device can be linearly descended along one position all the time, the surveying and mapping instrument can always keep a vertical fall, the accuracy of surveying and mapping data is improved, and the device has important significance for depth surveying and mapping in the sea.
Description
Technical Field
The invention relates to the technical field of ocean mapping, in particular to a water area mapping device and a mapping method for ocean engineering mapping.
Background
With the rapid development of the economy of China and the rapid promotion of comprehensive national force, the construction of novel smart cities is stepped into a specific implementation stage, and the construction of smart coastal zones, smart ocean management and the like are also proposed in many coastal provinces and coastal cities. Coastal smart city construction, smart coastal zone construction and smart ocean management all need to acquire marine surveying and mapping geographic information results as basic data through a marine surveying and mapping technology. Considering from the national level, in order to strengthen the implementation of the ocean strategy in China, further expand the blue development space, effectively improve the comprehensive treatment capacity of the ocean in China, reduce the problem of land resource shortage caused by rapid development of coastal cities, effectively relieve the environmental bearing pressure, further provide resource guarantee for economic development and the like, which all require that the marine surveying and mapping market is accelerated to be cultivated, the marine surveying and mapping industry is accelerated to be developed, and the marine surveying and mapping work is accelerated to be developed. The ocean mapping is a general term for measuring and expressing the ocean space geographic information, is a special subject for researching the acquisition, processing, representation, management and application of various geometric, physical and humanistic geographic spatial information of oceans, rivers, lakes and adjacent land areas, is an important branch of mapping, and is the basis of all ocean military, ocean scientific research and ocean development and utilization activities.
At present, in the shallow sea area surveying and mapping process, whether an instrument is perpendicular to the sea bottom surface to observe directly influences data quality, and if the position cannot be kept to be changed within a preset range, huge deviation can be generated between the surveyed data and actual data. In the prior art, in the depth measurement of a water area, the surveying and mapping device is difficult to be kept to change within a preset position range all the time in the falling process, so that a surveying and mapping instrument is greatly deviated from an original preset surveying and mapping position after falling to a certain depth, and the deviation of the surveyed data and the actual data is large. For example, in the measurement of fixed-point topography, if the surveying instrument is shifted, the surveying data and the actual data will be greatly different.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides a water area surveying and mapping device and a water area surveying and mapping method for ocean engineering surveying and mapping.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention provides a water area surveying and mapping device for surveying and mapping ocean engineering, which comprises:
the supporting panel is at least provided with four groups of supporting brackets, a first winding wheel is mounted on each supporting bracket and driven by a first driving motor, a plurality of ropes are arranged on the first winding wheel, at least four grooves are formed in each supporting panel, a first rotating shaft is arranged in each groove, a second winding wheel is mounted on each first rotating shaft, and the ropes can move along the rotating direction of the second winding wheel so as to form a preset included angle with the supporting panel;
the rope is inserted between the two third winding wheels, the third winding wheels are arranged on a second rotating shaft, the second rotating shaft is arranged in the adjusting block, the adjusting block is arranged at the tail end of the telescopic rod, and the telescopic rod is fixed on the adjusting mechanism;
be connected with the surveying instrument on the end of rope, install the GPS locater on the top of surveying instrument, the below fixed mounting of surveying instrument has the balancing weight, the GPS locater is used for acquireing the locating information of current surveying instrument, with the basis the mapping position of locating information adjustment surveying instrument.
Further, in a preferred embodiment of the present invention, the adjusting mechanism includes a plurality of supporting bottom plates disposed at the bottom of the supporting panel, and supporting vertical plates are mounted on both ends of the supporting bottom plates, wherein a screw rod and a guide rod are mounted on each supporting vertical plate.
Further, in a preferred embodiment of the present invention, the screw rod is driven by a second driving motor, and the second driving motor is mounted on the supporting base plate.
Further, in a preferred embodiment of the present invention, a moving block is mounted on the lead screw, and the moving block can make a linear motion under the action of the lead screw, and a fixed panel is mounted on the moving block, and a third rotating shaft is mounted on the fixed panel.
Further, in a preferred embodiment of the present invention, the third rotating shaft is driven by a third driving motor, the third driving motor is installed at a side portion of the fixed panel, a rotating block is fixed on the third rotating shaft, and an expansion link is fixed on the rotating block.
Further, in a preferred embodiment of the present invention, the surveying and mapping device further includes a control terminal, and the control terminal can communicate with the GPS locator and control the first driving motor, the second driving motor, the third driving motor and the driving of the telescopic rod through the control terminal according to the positioning information obtained by the GPS locator.
Further, in a preferred embodiment of the present invention, the rope passes through the second winding wheel and the third winding wheel, so that the surveying instrument and the rope form a preset included angle range, and the surveying instrument is controlled to fall vertically by adjusting the preset included angle range.
Further, in a preferred embodiment of the present invention, the GPS locator can obtain longitude information, latitude information, and altitude information of the current measurement position, control the current longitude information and latitude information to be kept within a preset range through the control terminal, and obtain the measurement information of the current measurement position by changing the altitude information.
The invention provides a surveying and mapping method of a water area surveying and mapping device for oceanographic engineering surveying and mapping, which is applied to any one water area surveying and mapping device for oceanographic engineering surveying and mapping and comprises the following steps:
presetting positioning information of a position to be measured through a control terminal, extracting longitude information and latitude information of the position to be measured from the positioning information of the position to be measured, and generating preset information based on the longitude information and the latitude information of the position to be measured;
acquiring longitude information and latitude information of a current GPS locator, and generating real-time position information based on the longitude information and the latitude information of the current GPS locator;
comparing preset information with real-time information to obtain a deviation rate, and judging whether the deviation rate is greater than a preset deviation rate threshold value or not;
and if the deviation ratio is greater than a preset deviation ratio threshold value, generating adjustment information, and starting the first driving motor, the second driving motor, the third driving motor and the telescopic rod through the control terminal.
Further, in a preferred embodiment of the present invention, the method for mapping a water area mapping apparatus for mapping ocean engineering includes the following steps:
if the deviation rate is greater than a preset deviation rate threshold, calculating a deviation rate difference value according to the preset deviation rate threshold and the deviation rate;
calculating an included angle required to be adjusted between the current rope and the current balancing weight according to the deviation ratio difference;
and calculating the current rope adjustment amount according to the included angle, and transmitting the rope adjustment amount to a control terminal.
The invention solves the defects in the background art, and has the following beneficial effects:
according to the invention, the first reels and the adjusting mechanisms are arranged in four directions, so that the surveying and mapping device can be linearly descended along one position all the time, the surveying and mapping instrument can always keep a vertical fall, the accuracy of surveying and mapping data is improved, and the surveying and mapping device has important significance for depth surveying and mapping and topographic and geomorphic surveying and mapping in the sea. The included angle between the ropes and the surveying instrument is changed through the adjusting mechanism, so that the two ropes on the same plane always keep the shape of an isosceles triangle, the surveying instrument always keeps a stable state to descend, when the descending process is influenced by water flow or other environmental factors, the positioning information of the position to be measured is preset through the control terminal, the longitude information and the latitude information of the position to be measured are extracted from the positioning information of the position to be measured, and the preset information is generated based on the longitude information and the latitude information of the position to be measured; acquiring longitude information and latitude information of a current GPS locator, and generating real-time position information based on the longitude information and the latitude information of the current GPS locator; comparing preset information with real-time information to obtain a deviation rate, and judging whether the deviation rate is greater than a preset deviation rate threshold value or not; if the deviation rate is larger than a preset deviation rate threshold value, adjusting information is generated, the first driving motor, the second driving motor, the third driving motor and the telescopic rod are started through the control terminal, and the GPS positioning instrument is in linkage fit with the device, so that the surveying instrument is still kept in a position area within a certain preset range, and the influence of the external environment on surveying is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings of the embodiments can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of a water area surveying device for surveying ocean engineering;
FIG. 2 is a schematic side view of a water area surveying device for surveying ocean engineering;
FIG. 3 is a schematic view of a portion of a water area surveying device for surveying ocean engineering;
FIG. 4 is another schematic view of a water area surveying device for surveying ocean engineering;
FIG. 5 is a schematic sectional view showing the connection of the second reel with the second rotating shaft and the adjusting block;
fig. 6 shows an overall method flow diagram of a mapping method of a water area mapping device for mapping ocean engineering.
In the figure:
1. the device comprises a supporting panel, 2 parts of a supporting bracket, 3 parts of a first winding wheel, 4 parts of a rope, 5 parts of a first rotating shaft, 6 parts of a second winding wheel, 7 parts of a third winding wheel, 8 parts of a second rotating shaft, 9 parts of an adjusting block, 10 parts of a telescopic rod, 11 parts of an adjusting mechanism, 12 parts of a surveying instrument, 13 parts of a GPS (global positioning system) locator, 14 parts of a balancing weight, 15 parts of a first driving motor, 1101 parts of a supporting bottom plate, 1102 parts of a supporting vertical plate, 1103 parts of a screw rod, 1104 parts of a guide rod, 1105 parts of a second driving motor, 1106 parts of a moving block, 1107 parts of a fixed panel, 1108 parts of a third rotating shaft, 1109 parts of a third driving motor, 1110 parts of a rotating block, 1111 parts of a telescopic rod and 101 parts of a groove.
Detailed Description
In order that the above objects, features and advantages of the present invention may be more clearly understood, a more particular description of the invention will be rendered by reference to the accompanying drawings, which are simplified in illustration only and in order to schematically illustrate the basic structure of the invention and thus show only the structures related to the invention.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the scope of the present application. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.
In the description of the present application, it is worth mentioning that, in the present embodiment, unless otherwise explicitly stated and limited, the terms "mounted," "connected," and "connected" should be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art through specific situations.
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
As shown in fig. 1 to 5, a first aspect of the present invention provides a water area surveying apparatus for surveying and mapping of oceanographic engineering, the surveying apparatus comprising:
the supporting panel 1 is provided with at least four groups of supporting brackets 2, a first reel 3 is mounted on each supporting bracket 2, each first reel 3 is driven by a first driving motor 15, a plurality of ropes 4 are arranged on each first reel 3, at least four grooves 101 are formed in each supporting panel 1, a first rotating shaft 5 is arranged in each groove 101, a second reel 6 is mounted on each first rotating shaft 5, and the ropes 4 can move along the rotating direction 6 of each second reel, so that the ropes 4 and the supporting panel 1 form a preset included angle;
the rope 4 is inserted between two third winding wheels 7, the third winding wheels 7 are installed on a second rotating shaft 8, the second rotating shaft 8 is installed inside an adjusting block 9, the adjusting block 9 is arranged at the tail end of an expansion link 10, and the expansion link 10 is fixed on an adjusting mechanism 11;
be connected with surveying instrument 12 on the end of rope 4, install GPS locater 13 on surveying instrument 12's the top, surveying instrument 12's below fixed mounting has balancing weight 14, GPS locater 13 is used for obtaining current surveying instrument 12's locating information, with the basis locating information adjusts surveying instrument 12's survey and drawing position.
According to the embodiment, it is worth mentioning that, firstly, when the staff can place the device on a ship, other ship equipment or fixed point measuring equipment, through placing the counterweight 14 and the water area, and further, because the rope is connected with the surveying instrument 12, the surveying instrument 12 can have a certain anti-interference capacity through the counterweight 14, at this time, the first reel 3 is driven by the first driving motor 15, so that the rope 4 on the first reel 3 is extended, and acts on the second reel 6 and the third reel 7 through the rope 4, the rope can be a rope made of a rope such as a steel rope or a rope made of a polymer material, as shown in the figure, the left rope and the right rope control the left-right direction shake, the front-back direction shake is controlled in the front-back direction, and the left-right rope and the supporting panel form an isosceles triangle shape, in the using process, the vertical movement is continuously performed along the central axis direction of the equal waist triangle through controlling the surveying instrument, so that the gravity center position of the surveying instrument and the central axis is always kept in the falling process of the equal waist in the equal waist direction, and the water area can be stably measured, thereby increasing the accuracy of the surveying instrument. In the fixed point measurement, during the falling process, if the longitude information and the latitude information of the current measurement position are determined, the user can set a surveying point through the control terminal, and with the surveying point as a reference, the GPS locator 13 can feed back the positioning information to the control terminal in real time, so that the surveying instrument can always maintain the longitude position and the latitude position within a predetermined range, and the surveying instrument 12 can always maintain a certain longitude position range and latitude position range to fall into the sea area or the water area following the counterweight 14. The surveying instrument can be a depth detector, a sonar probe and the like. When the surveying instrument takes place the skew, can make the data of gathering inaccurate, be equivalent to a plurality of position points and survey and draw, rather than the position point survey and draw, the data of gathering will produce very big deviation with actual data.
Further, in a preferred embodiment of the present invention, the adjusting mechanism 11 includes a plurality of supporting bottom plates 1101 disposed at the bottom of the supporting panel 1, supporting vertical plates 1102 are mounted on both ends of the supporting bottom plates 1101, wherein a lead screw 1103 and a guide bar 1104 are mounted on the supporting vertical plates 1102.
Further, in a preferred embodiment of the present invention, the lead screw 1103 is driven by a second driving motor 1105, and the second driving motor 1105 is installed on the supporting base 1101.
Further, in a preferred embodiment of the present invention, a moving block 1106 is mounted on the lead screw 1103, the moving block 1106 can move linearly under the action of the lead screw 1103, a fixing panel 1107 is mounted on the moving block 1106, and a third rotating shaft 1108 is mounted on the fixing panel 1107.
Further, in a preferred embodiment of the present invention, the third rotating shaft 1108 is driven by a third driving motor 1109, the third driving motor 1109 is installed at a side portion of the fixed panel 1107, a rotating block 1110 is fixed on the third rotating shaft 1108, and a telescopic rod 1111 is fixed on the rotating block 1110.
According to this embodiment, it is worth mentioning that, in the process of dropping the counterweight 14 and the surveying instrument 13, when the position of the surveying instrument deviates due to the external environment, such as the influence of water flow speed, at this time, the screw 1103 can be driven by the second driving motor 1105 to change the position of the third reel 7 in the left-right direction, the third driving motor 1109 drives the third rotating shaft 1108, so that the acting position point of the third reel 7 and the rope changes, so as to adjust the position point of the third reel 7 acting on the rope, and further change the included angle of the isosceles triangle, while changing the included angle, the driving is continued by the first driving motor 15, the rope 4 continues to extend or shorten, so that the current isosceles triangle becomes larger or smaller, and thereby the deviated longitude position or latitude position is adjusted back to the preset changing range. On the other hand, the increase of the random measurement depth is through increasing the extension of telescopic link 1111 to change the action position of third reel 7 and rope, make the in-process of surveying appearance 13 whereabouts remain throughout in certain longitude position scope or latitude position scope, and then improve the precision of surveying project in specific waters depth or sea area depth, for example the water depth is measured, it can improve the precision of depth measurement to keep the fixed point whereabouts, and in the topographic survey of fixed point, through keeping the stability of survey point within predetermineeing the change range, thereby improve the precision of mapping data. In the process of surveying instrument 13 whereabouts, owing to the effect of rope and third reel 7 for rope 4 can make third reel 7 roll, plays the regulation effect promptly and can restrict the removal of rope about or in the fore-and-aft direction again.
Further, in a preferred embodiment of the present invention, the mapping apparatus further includes a control terminal, the control terminal can communicate with the GPS locator 13, and control the first driving motor 15, the second driving motor 1105, the third driving motor 1109 and the driving of the telescopic rod 1111 through the control terminal according to the positioning information obtained by the GPS locator 13.
According to the embodiment, it is worth mentioning that the GPS positioning instrument can communicate with the control terminal, so that the GPS positioning instrument can transmit the acquired positioning information to the control terminal, preset the positioning information of the position to be measured through the aerial terminal, extract longitude information and latitude information of the position to be measured from the positioning information of the position to be measured, generate preset information based on the longitude information and latitude information of the position to be measured, acquire the longitude information and latitude information of the current GPS positioning instrument through the control terminal, and generate real-time position information based on the longitude information and latitude information of the current GPS positioning instrument; comparing the preset information with the real-time information to obtain a deviation rate, judging whether the deviation rate is greater than a preset deviation rate threshold value, generating adjustment information when the deviation rate is greater than the preset deviation rate threshold value, and starting the first driving motor 15, the second driving motor 1105, the third driving motor 1109 and the telescopic rod 111 through the control terminal. Wherein, after surveying instrument 13 fell to certain degree of depth, under the effect through second driving motor 1105, the extension of telescopic link 1111 made the position of third reel 7 with rope 4 effect change, and this process can make surveying instrument 13 can more stable decline. The control terminal is a computer.
According to this embodiment, worth mentioning is that, the rope 4 of this device sets up the fore-and-aft direction when acting with surveying instrument 13, and the left and right directions is isosceles triangle's shape for surveying instrument 13 remains stable throughout at the in-process of whereabouts, thereby makes surveying instrument's 13 remove on isosceles triangle's axis direction as far as possible, can keep certain perpendicular with the survey and drawing position, improves the stability among the survey and drawing process, and then has improved the accuracy at the survey and drawing data of specific waters degree of depth.
Further, in a preferred embodiment of the present invention, the rope 4 passes through the second winding wheel 6 and the third winding wheel 7 to form a preset included angle range between the surveying instrument 12 and the rope 4, and the surveying instrument 12 is controlled to fall vertically by adjusting the preset included angle range.
Further, in a preferred embodiment of the present invention, the GPS locator 13 is capable of acquiring longitude information, latitude information, and altitude information of the current measurement position, controlling the current longitude information and latitude information to be kept within a preset range through the control terminal, and acquiring measurement information of the current measurement position by changing the altitude information.
According to the embodiment, it is worth mentioning that, in the process of surveying and mapping, the rope 4 passes through the second winding wheel 6 and the third winding wheel 7, so that the surveying and mapping instrument 12 and the rope 4 form a preset included angle range, and the surveying and mapping instrument 12 is controlled to fall vertically by adjusting the preset included angle range, so that the surveying and mapping instrument 12 can perform linear motion along a range near a central axis of an isosceles triangle surrounded by the rope, and the GPS locator 13 can acquire longitude information, latitude information and altitude information of a current measurement position, and the control terminal controls the current device to keep the current longitude information and the current latitude information within the preset range, and the altitude information is changed to acquire measurement information of the current measurement position, thereby further improving accuracy of depth measurement data in a water area. And the GPS locator may obtain depth information of the current measurement location from the change in altitude.
Fig. 6 shows an overall method flow diagram of a mapping method of a water area mapping device for mapping ocean engineering.
The invention provides a surveying and mapping method of a water area surveying and mapping device for oceanographic engineering surveying and mapping, which is applied to any one water area surveying and mapping device for oceanographic engineering surveying and mapping and comprises the following steps:
s102, presetting positioning information of a position to be measured through a control terminal, extracting longitude information and latitude information of the position to be measured from the positioning information of the position to be measured, and generating preset information based on the longitude information and the latitude information of the position to be measured;
s104, acquiring longitude information and latitude information of a current GPS locator, and generating real-time position information based on the longitude information and the latitude information of the current GPS locator;
s106, comparing preset information with real-time information to obtain a deviation rate, and judging whether the deviation rate is greater than a preset deviation rate threshold value or not;
and S108, if the deviation ratio is larger than a preset deviation ratio threshold value, generating adjustment information, and starting the first driving motor, the second driving motor, the third driving motor and the telescopic rod through the control terminal.
According to this embodiment, it is worth mentioning that, when the deviation ratio is greater than the preset deviation ratio threshold, it is indicated that the deviation range of the surveying instrument exceeds the preset deviation range, at this time, in the process of dropping the counterweight block and the surveying instrument, when the position of the surveying instrument deviates due to the external environment influence, such as the influence of water flow speed, and the like, at this time, the screw rod can be driven by the second driving motor, so as to change the position of the third winding wheel in the left-right direction, the third driving motor drives the third rotating shaft, so that the acting position point of the third winding wheel and the rope changes, so as to adjust the acting position point of the third winding wheel and the rope, and further change the included angle of the isosceles triangle, the first driving motor continues to drive while changing the included angle, the rope continues to extend or shorten, so that the current isosceles triangle becomes larger or smaller, so as to adjust the deviated longitude position or latitude position back to the preset variation range. On the other hand, the increase of the random measurement depth is realized by increasing the extension of the telescopic rod, so that the action positions of the third winding wheel and the rope are changed, the falling process of the surveying instrument is always kept within a certain longitude position range or latitude position range, and the surveying and mapping precision of the water depth or the sea depth is improved.
Further, in a preferred embodiment of the present invention, the method for mapping a water area mapping apparatus for mapping ocean engineering includes the following steps:
s202, if the deviation ratio is larger than a preset deviation ratio threshold, calculating a deviation ratio difference value according to the preset deviation ratio threshold and the deviation ratio;
s204, calculating an included angle required to be adjusted between the current rope and the current balancing weight according to the deviation ratio difference;
and S206, calculating the current rope adjustment amount according to the included angle, and transmitting the rope adjustment amount to a control terminal.
According to the embodiment, it is worth mentioning that the mathematical relation formula of the device can be used for calculating the included angle required to be adjusted between the current rope and the current balancing weight according to the deviation ratio difference value through conventional mathematical analysis, so that the adjustment amount of the current rope is calculated according to the included angle, the first driving motor, the second driving motor, the third driving motor and the telescopic rod are controlled by the control terminal to drive, the position of the current surveying instrument is adjusted, and the positioning information of the surveying instrument is adjusted back to the preset positioning information range. In the left and right directions, if the deviation ratio difference value is a positive value, the longitude information of the surveying instrument deviates to the right side, and at the moment, the surveying instrument can be adjusted within a preset positioning information range by adjusting the first driving motor, the second driving motor, the third driving motor and the telescopic rod driving.
In addition, the method can also comprise the following steps:
acquiring the settlement of the ship under each salinity physicochemical data information through a big data network, and establishing a salinity physicochemical data information settlement database according to the settlement;
acquiring salinity physicochemical data information of a current surveying and mapping water area; importing salinity physicochemical data information of the current surveying and mapping water area into a salinity physicochemical data information sinking amount database to obtain the sinking amount of the current ship;
acquiring the obtained measurement data of the current surveying instrument;
the final mapping data is derived based on the current vessel's sinkage and the obtained measurement data of the current mapper.
According to the embodiment, it is worth mentioning that in the depth mapping of the sea area, when the device is used for mapping on a ship, due to different salinity of seawater, the sinking amount of the ship in the seawater is inconsistent, and due to the fact that the ship body of the ship is used as a reference point during mapping, the sinking amount of the ship can affect the mapped depth data, the mapped depth data can be corrected through the method, and therefore the mapped depth data is more consistent with authenticity, and the accuracy of the mapped data is improved.
In addition, the method can also comprise the following steps:
acquiring a communication time interval between a control terminal and a GPS locator within preset time, and judging whether the communication time interval is greater than the preset communication time interval;
if the communication time interval is larger than a preset communication time interval, acquiring surveying and mapping data acquired by the current surveying and mapping instrument;
acquiring a data acquisition time node of the mapping data acquired by the current mapper;
and correcting the acquired mapping data according to the communication time interval and the data acquisition time node.
According to the embodiment, it is worth mentioning that the method can correct the mapping data with the communication time interval larger than the preset communication time interval, so that the mapped data can tend to a real-time value more to obtain the current real-time mapping data.
In addition, a radar is arranged on the bottom of the balancing weight, so that the method can further comprise the following steps:
acquiring a radar signal within a current preset range through a radar;
filtering and denoising the radar signal to obtain a processing signal, and acquiring a target point cloud matrix of the obstacle according to the processing signal;
generating a barrier three-dimensional model according to the target point cloud matrix, and judging whether the balancing weight block and the barrier three-dimensional model have interference conditions or not;
and if the balancing weight block and the three-dimensional model of the obstacle have interference conditions and the interference area is calculated, generating transmission modification mapping node information according to the interference area, transmitting the modification mapping node information to a control terminal, and sending an adjusting signal to a ship control terminal through the control terminal.
According to the embodiment, it is worth mentioning that a three-dimensional model of the obstacle can be established through three-dimensional modeling software (such as SolidWorks), when the counterweight block and the three-dimensional model of the obstacle have interference, it is indicated that the node of the current surveying and mapping position needs to be adjusted, and the node of the current surveying and mapping position can be accurately adjusted by calculating the interference area.
In conclusion, the first reels and the adjusting mechanisms are arranged in four directions, so that the surveying and mapping device can linearly descend along one position all the time, a surveying and mapping instrument can always keep a vertical fall, the accuracy of surveying and mapping data is improved, and the device has important significance for depth surveying and mapping in the sea. The included angle between the ropes and the surveying instrument is changed through the adjusting mechanism, so that the two ropes on the same plane always keep the shape of an isosceles triangle, the surveying instrument always keeps a stable state to descend, when the descending process is influenced by water flow or other environmental factors, the positioning information of the position to be measured is preset through the control terminal, the longitude information and the latitude information of the position to be measured are extracted from the positioning information of the position to be measured, and the preset information is generated based on the longitude information and the latitude information of the position to be measured; acquiring longitude information and latitude information of a current GPS locator, and generating real-time position information based on the longitude information and the latitude information of the current GPS locator; comparing preset information with real-time information to obtain a deviation rate, and judging whether the deviation rate is greater than a preset deviation rate threshold value or not; if the deviation rate is larger than a preset deviation rate threshold value, adjusting information is generated, the first driving motor, the second driving motor, the third driving motor and the telescopic rod are started through the control terminal, and the GPS positioning instrument is in linkage fit with the device, so that the surveying instrument is still kept in a position area within a certain preset range, and the influence of the external environment on surveying is reduced.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
In light of the foregoing description of the preferred embodiment of the present invention, it is to be understood that various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and the technology must be determined in accordance with the scope of the claims.
Claims (6)
1. A water area surveying device for oceanographic engineering surveying, characterized in that the surveying device comprises:
the supporting panel is at least provided with four groups of supporting brackets, a first winding wheel is mounted on each supporting bracket and driven by a first driving motor, a plurality of ropes are arranged on the first winding wheel, at least four grooves are formed in each supporting panel, a first rotating shaft is arranged in each groove, a second winding wheel is mounted on each first rotating shaft, and the ropes can move along the rotating direction of the second winding wheel so as to form a preset included angle with the supporting panel;
the rope is inserted between the two third winding wheels, the third winding wheels are arranged on a second rotating shaft, the second rotating shaft is arranged in the adjusting block, the adjusting block is arranged at the tail end of the telescopic rod, and the telescopic rod is fixed on the adjusting mechanism;
be connected with the surveying instrument on the end of rope, install the GPS locater on the top of surveying instrument, the below fixed mounting of surveying instrument has the balancing weight, the GPS locater is used for acquireing current surveying instrument's locating information, with the basis locating information adjusts the survey and drawing position of surveying instrument
The adjusting mechanism comprises a plurality of supporting bottom plates arranged at the bottom of the supporting panel, supporting vertical plates are arranged at two ends of each supporting bottom plate, and lead screws and guide rods are arranged on the supporting vertical plates
The screw rod is driven by a second driving motor, and the second driving motor is arranged on the supporting bottom plate
A movable block is mounted on the lead screw and can do linear motion under the action of the lead screw, a fixed panel is mounted on the movable block, and a third rotating shaft is mounted on the fixed panel;
the third rotating shaft is driven by a third driving motor, the third driving motor is installed on the side portion of the fixed panel, a rotating block is fixed on the third rotating shaft, and a telescopic rod is fixed on the rotating block.
2. The water area surveying device for oceanographic engineering surveying and mapping as claimed in claim 1, characterized in that the surveying device further comprises a control terminal, the control terminal can communicate with the GPS locator and control the driving of the first driving motor, the second driving motor, the third driving motor and the telescopic rod through the control terminal according to the positioning information obtained by the GPS locator.
3. The device as claimed in claim 1, wherein the rope passes through the second and third rollers to form a predetermined angle with the surveying instrument, and the surveying instrument is controlled to fall vertically by adjusting the predetermined angle.
4. A water area surveying apparatus for oceanographic engineering surveying and mapping as claimed in claim 1, wherein the GPS locator is capable of acquiring longitude information, latitude information and altitude information of a current surveying position, controlling the current longitude information and latitude information to be maintained within a preset range by the control terminal, and acquiring the surveying information of the current surveying position by changing the altitude information.
5. A surveying method of a water area surveying device for oceanographic engineering surveying, which is applied to the water area surveying device for oceanographic engineering surveying according to any one of claims 1 to 4, comprising the steps of:
presetting positioning information of a position to be measured through a control terminal, extracting longitude information and latitude information of the position to be measured from the positioning information of the position to be measured, and generating preset information based on the longitude information and the latitude information of the position to be measured;
acquiring longitude information and latitude information of a current GPS locator, and generating real-time position information based on the longitude information and the latitude information of the current GPS locator;
comparing preset information with real-time information to obtain a deviation rate, and judging whether the deviation rate is greater than a preset deviation rate threshold value or not;
and if the deviation rate is greater than a preset deviation rate threshold value, generating adjustment information, and starting the first driving motor, the second driving motor, the third driving motor and the telescopic rod through the control terminal.
6. The method as claimed in claim 5, wherein if the deviation ratio is greater than a predetermined deviation ratio threshold, the method generates the adjustment information, and comprises the following steps:
if the deviation ratio is larger than a preset deviation ratio threshold value, calculating a deviation ratio difference value according to the preset deviation ratio threshold value and the deviation ratio;
calculating an included angle required to be adjusted between the current rope and the current balancing weight according to the deviation ratio difference;
and calculating the current rope adjustment amount according to the included angle, and transmitting the rope adjustment amount to a control terminal.
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| CN109870145A (en) * | 2017-12-05 | 2019-06-11 | 马管习 | A kind of water depth surveying boat for underwater topography mapping |
| CN111551108A (en) * | 2020-06-18 | 2020-08-18 | 杭州浙大东南土地研究所有限公司 | Surveying and mapping device and method |
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| CN214947919U (en) * | 2021-04-29 | 2021-11-30 | 辽宁宏图创展测绘勘察有限公司 | Three-dimensional holographic mapping equipment of outdoor scene |
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| CN107407250A (en) * | 2015-03-18 | 2017-11-28 | 李东仁 | Submerged type generation platform |
| CN109870145A (en) * | 2017-12-05 | 2019-06-11 | 马管习 | A kind of water depth surveying boat for underwater topography mapping |
| CN111551108A (en) * | 2020-06-18 | 2020-08-18 | 杭州浙大东南土地研究所有限公司 | Surveying and mapping device and method |
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