CN117719637A - An unmanned surveying and mapping ship capable of diving and scanning and its surveying and mapping system - Google Patents
An unmanned surveying and mapping ship capable of diving and scanning and its surveying and mapping system Download PDFInfo
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- CN117719637A CN117719637A CN202311748056.0A CN202311748056A CN117719637A CN 117719637 A CN117719637 A CN 117719637A CN 202311748056 A CN202311748056 A CN 202311748056A CN 117719637 A CN117719637 A CN 117719637A
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Abstract
本发明提供一种可下潜扫描的无人测绘船及其测绘系统，涉及测绘船技术领域。该可下潜扫描的无人测绘船及其测绘系统，包括船体，所述船体底部设置有下潜器，所述下潜器两侧均设置有支撑组件，所述下潜器内部两侧相对设置有第一齿板和第二齿板，所述第一齿板和第二齿板分别贯穿下潜器两侧壁并与下潜器滑动连接，所述第一齿板和第二齿板延伸至下潜器外侧一端均固定连接有固定板，两个所述固定板底部均设置有拉伸组件。该可下潜扫描的无人测绘船及其测绘系统方便对坑道进行测绘，并且可以对不对称的遮挡物进行搬运，同时对下潜器下潜的控制无需特别精准即可搬运遮挡物，操作方便，使得测绘结果更加精准。
The invention provides an unmanned surveying and mapping vessel capable of diving and scanning and its surveying and mapping system, and relates to the technical field of surveying and mapping vessels. The unmanned surveying and mapping ship and its surveying and mapping system that can dive and scan include a hull. A submersible is provided at the bottom of the hull. Support assemblies are provided on both sides of the submersible. The two sides of the interior of the submersible are opposite to each other. A first tooth plate and a second tooth plate are provided. The first tooth plate and the second tooth plate respectively penetrate both side walls of the submersible and are slidingly connected with the submersible. The first tooth plate and the second tooth plate A fixed plate is fixedly connected to one end extending to the outside of the submersible, and a tensile assembly is provided at the bottom of both fixed plates. The unmanned surveying and mapping ship and its surveying system that can dive and scan are convenient for surveying and mapping tunnels, and can transport asymmetric obstructions. At the same time, the control of the submersible's dive does not require particularly precise operation to transport obstructions. Convenience makes surveying and mapping results more accurate.
Description
Technical Field
The invention relates to a surveying and mapping ship, in particular to an unmanned surveying and mapping ship capable of performing submerged scanning and a surveying and mapping system thereof, and belongs to the technical field of surveying and mapping ships.
Background
Marine surveying and mapping is a theory and technology for acquiring and describing basic geographic elements and geometric and physical attribute information of water bodies such as oceans, rivers and lakes and objects surrounding the water bodies, is an important branch of surveying and mapping science and technology, and is the basis of all marine military and marine science research, development and utilization activities. Marine surveying and mapping mainly comprises three major contents of marine survey, drawing of various survey information and comprehensive management and utilization of information. The ocean measurement is a theory, technology and method for measuring a water body, a water bottom and surrounding land, and can be divided into ocean geodetic measurement, ocean navigation positioning, water depth measurement, underwater, coastal zone topography measurement, ocean remote sensing, ocean hydrological measurement, submarine acoustic substrate measurement, ocean engineering measurement and the like according to research contents and tasks.
The prior art adopts unmanned sonar surveying vessel to be used for measuring topography under water more. When the topography in the water bottom is mapped in the water area, as various garbage exists in rivers and lakes, when the density of the garbage is greater than that of the water body and under the influence of water flow, the garbage is easy to move along with the water flow under the water, when encountering an underwater tunnel or a cavity, the garbage can be blocked at the tunnel mouth, the blocking of the tunnel can greatly influence the detection of sonar, the blocked tunnel inner structure cannot be accurately detected, the blocked tunnel mouth needs to be dredged, the existing dredging device takes out the blocking object through the clamping mechanism, the clamping mechanism needs to enable the structure to be accurately corresponding to the blocking object when dredging, and the two clamping plates are simultaneously contacted with two sides of the blocking object, otherwise, the clamping is unstable, however, under the influence of underwater ocean flow, the submerged dredging device is easy to shake, and the fixing effect is influenced.
Disclosure of Invention
(one) solving the technical problems
The invention aims to solve the problems and provide an unmanned mapping ship capable of submerging and scanning and a mapping system thereof, so as to solve the problems that in the prior art, an existing dredging device is used for taking out a blockage through a clamping mechanism, but the clamping mechanism needs to enable a structure to be accurately corresponding to the blockage during dredging, two clamping plates are enabled to be simultaneously contacted with two sides of the blockage, otherwise, the clamping is unstable, however, under the influence of underwater ocean currents, the submerging dredging device is easy to shake, and the fixing effect is affected.
(II) technical scheme
In order to achieve the above purpose, the invention is realized by the following technical scheme: the utility model provides an unmanned survey and drawing ship that can dive scanning, includes the hull, the hull bottom is provided with the diver, the inside both sides of diver all are provided with supporting component, the inside both sides of diver are provided with first pinion rack and second pinion rack relatively, first pinion rack and second pinion rack pass through diver both sides wall respectively and with diver sliding connection, first pinion rack and second pinion rack extend to the equal fixedly connected with fixed plate of the outside one end of diver, two the fixed plate bottom all is provided with tensile subassembly, the inside sliding plate that is provided with of diver, inside one side of diver is provided with the movable plate, the cavity has been seted up to inside one end of movable plate, the inside one side sliding connection of movable plate cavity has the movable sleeve, the inside one end fixedly connected with plugboard of movable sleeve, the inside rotation of movable sleeve is connected with bull stick, bull stick top fixedly connected with limiting gear.
Preferably, two opposite sides of the fixing plate are fixedly connected with limiting plates, the two limiting plates penetrate through two side walls of the submersible respectively and are in sliding connection with the submersible, one side of the inside of the submersible is fixedly connected with a positioning plate, a sliding groove is formed in the sliding plate, the positioning plate penetrates through the sliding groove and is in sliding connection with the sliding groove, two sides of the sliding plate are fixedly connected with a first rack and a second rack respectively, a supporting rod is fixedly connected with one side of the inside of the submersible, a transmission gear is rotationally connected with the outer side of the supporting rod, two sides of the transmission gear are respectively in meshed connection with the first rack and the first toothed plate, the transmission gear limits the first toothed plate and drives the first toothed plate to move, and two sides of the limiting gear are respectively in meshed connection with the second rack and the second toothed plate and drive the second toothed plate to limit.
Preferably, a plurality of draw-in grooves have been seted up in the bull stick outside, a plurality of the draw-in grooves are annular array and distribute, the mounting groove has been seted up to inside one side of ware that dives, the inside fixedly connected with first hydraulic stem of mounting groove, first hydraulic stem output fixedly connected with push pedal, push pedal and movable plate one end fixed connection drive the push pedal when making first hydraulic stem start to make the push pedal drive the movable plate and remove, the inside one end fixedly connected with sliding sleeve of movable plate cavity, the inside sliding connection of sliding sleeve has the slider, the inside spring that is provided with of sliding sleeve, spring both ends respectively with slider and sliding sleeve fixed connection, slider and removal cover fixed connection, the inside logical groove of having seted up of removal cover, the plugboard runs through the groove and with logical groove sliding connection, the plugboard is corresponding with logical groove and a plurality of draw-in grooves, makes the plugboard fix a position the bull stick.
Preferably, the stretching assembly comprises a clamping plate, the clamping plate is fixedly connected to the bottom of the fixing plate, a fourth hydraulic rod is fixedly connected to the inside of the clamping plate, and the clamping plate is rotatably connected to the bottom end of the fourth hydraulic rod, so that the fourth hydraulic rod is started to drive the clamping plate to stretch out and draw back, and the clamping plate and a stone block are conveniently clamped.
Preferably, the support assembly comprises two connecting plates, two swing rods and two second hydraulic rods, wherein the bottom ends of the two second hydraulic rods are fixedly connected with support plates, the two connecting plates are respectively fixedly connected to two sides of the submersible vehicle, the two swing rods are respectively hinged to one sides of the two connecting plates, the two second hydraulic rods are respectively fixedly connected to one bottoms of one ends of the two swing rods, hinge plates are respectively hinged to two sides of the submersible vehicle, the two hinge plates are respectively fixedly connected with third hydraulic rods on one sides of the hinge plates, the two output ends of the third hydraulic rods are respectively fixedly connected with rotating plates, the two rotating plates are respectively hinged to the two swing rods, the positions of the second hydraulic rods and the support plates are convenient to adjust, and the support effect is improved.
Preferably, receive and release case of hull bottom fixedly connected with, receive and release case and submersible vehicle are connected through the steel cable between, receive and release the submersible vehicle, hull top one side fixedly connected with control box and locator, both sides all fixedly connected with camera around the submersible vehicle bottom are favorable to observing the seabed condition, fixedly connected with sonar mapping appearance in the middle of the submersible vehicle bottom is convenient for scan the survey and drawing.
The utility model provides a but dive scanning survey and drawing system, includes the treater, the treater output is connected with the butt joint module, the treater output still is connected with environment positioning module, the treater output still is connected with vision observation module and control module, vision observation module output is connected with control module, the control module output is connected with survey and drawing data record module, survey and drawing data record module output is connected with the treater, the treater input is connected with remote control end.
Preferably, the docking module comprises a recovery unit, a laying unit and a ship body auxiliary docking unit, so that the submersible vehicle is conveniently controlled to carry out retraction operation, and the environment positioning module comprises a Beidou positioning unit, a depth sensor and a positioning correction unit, so that the ship body is conveniently positioned.
Preferably, the visual observation module comprises a visual positioning unit, the output end of the visual positioning unit is connected with a graphic data acquisition unit, the output end of the graphic data acquisition unit is connected with an image calculation unit, the output end of the image calculation unit is connected with an observation angle adjusting unit, and the control module comprises a first control unit, a second control unit, a third control unit and a fourth control unit, and the observation angle is adjusted.
Preferably, the mapping data recording module comprises a sonar monitoring unit, the output end of the sonar monitoring unit is connected with a coordinate building unit, the output end of the coordinate building unit is connected with a data calculating unit, and the output end of the data calculating unit is connected with a data comparing unit for monitoring mapping data.
The invention provides an unmanned surveying and mapping ship capable of performing submerged scanning and a surveying and mapping system thereof, which have the following beneficial effects:
1. this unmanned survey vessel of scanning can dive is driven to the detection region through the hull to make receive and release the case and will dive the ware and descend in the aquatic, make sonar mapping appearance start and carry out scanning survey and drawing, and carry out the surrounding environment through the camera, when the suspected hole that has by stone or debris to block up of discovery, control the hull and drive near the hole, and make the ware dive to debris top, move debris and survey again.
2. According to the unmanned surveying vessel capable of diving and scanning, when a shielding object is in an asymmetric irregular shape, such as stone, the rotating plate is driven to stretch through the third hydraulic rod, the rotating plate pushes the swinging rod to deflect, the swinging rod drives the second hydraulic rods and the first toothed plate to move, so that the second hydraulic rods and the supporting plates are opened, the second hydraulic rods are simultaneously started, the second hydraulic rods drive the supporting plates to contact with nearby supportable objects, the pushing plate is driven to move through the first hydraulic rods, the pushing plate drives the moving plate to move, the moving plate drives the moving sleeve to move, the moving sleeve drives the rotating rod and the limiting gear to move, the limiting gear drives the second toothed plate and the second toothed plate to move simultaneously when moving, the inserting plate is inserted into the clamping groove of the rotating rod at the moment, the rotating rod cannot rotate at the moment, the second toothed plate drives the fixed plate connected with the second toothed plate to move when moving, the sliding plate drives the first toothed plate to move, simultaneously drives the first toothed plate to drive the transmission gear to rotate when moving, the first toothed plate drives the first toothed plate to rotate towards the first toothed plate to move, the two opposite toothed plates are driven to clamp the two toothed plates to move relatively, the two toothed plates are driven to move oppositely, the two toothed plates are clamped and the two toothed plates are driven to move relatively, and the two toothed plates are clamped and are connected with each other oppositely,
3. in the unmanned surveying vessel capable of submerging and scanning, when a shielding object is in an irregular shape, or because the submerging position of a submerging device is not exactly positioned in the middle of the shielding object, and possibly the submerging device is pushed by water flow in the submerging process and does not exactly fall at a designated position, the distance between two clamping plates and the shielding object is different, when the two clamping plates shrink inwards to approach the shielding object, one clamping plate contacts with the shielding object, in the embodiment, the clamping plate fixed at the bottom of the fixed plate connected with the second toothed plate contacts with the shielding object, the clamping plate cannot move continuously under the blocking of the shielding object, so when the moving plate moves continuously, the second toothed plate limits the limiting gear, meanwhile, the inserting plate is inserted in the rotating rod, the rotating rod cannot rotate, and the moving plate pulls the moving sleeve to slide in the moving plate when moving, the sliding block is pushed to move while sliding, the sliding block extrudes the spring, the rotating rod is separated from the plugboard when moving, after the rotating rod is separated from the plugboard, the rotating rod can freely rotate, the second toothed plate limits the limiting gear, when the rotating rod rotates when moving, the rotating rod drives the limiting gear to rotate, the limiting gear drives the second rack to continuously move, the second rack drives the sliding plate and the first rack to move, the first rack drives the transmission gear to rotate, simultaneously drives the first toothed plate to reversely move, the first toothed plate drives the fixed plate and the clamping plate connected with the first toothed plate to continuously move towards the shielding object, so that the two clamping plates are finally contacted with two sides of the shielding object, the shielding object is clamped, and finally the shielding object is lifted to map the tunnel, thereby being beneficial to removing the shielding object above the tunnel, and being convenient for mapping the tunnel, and can carry asymmetric shielding object, need not the control of diving the ware of diving simultaneously and can carry shielding object, convenient operation for the mapping result is more accurate.
4. This can dive scanning mapping system, send the signal to vision observation module through the treater, make vision observation module send the order to vision positioning unit, make vision positioning unit carry out vision positioning, and send the order to graphic data acquisition unit through vision observation module, make graphic data acquisition unit acquire monitoring image data, and make image calculation unit calculate image data, finally adjust through adjustment observation angle control observation angle, send the signal to control module through vision observation module, and control the third hydraulic stem through first control unit, the second control unit, third control unit and fourth control unit respectively, and start up of third hydraulic stem, the second hydraulic stem, fourth hydraulic stem and first hydraulic stem, send the signal to the survey and drawing data record module through control module, make survey and drawing data record module send the order to the sonar monitoring unit, make the sonar monitoring unit carry out survey and drawing operation to current waters, after the tunnel is found, and mark current coordinate through coordinate establishment unit, after the shelter from the thing before the tunnel is removed, make data calculation unit calculate the detection data of sonar monitoring unit, and compare the control device before the shelter from the tunnel and the map data of the map and after the map data is removed, the map data is compared with the well can be recorded to the accuracy, the map data is removed, and the map data is compared and the map data is removed, and the map is easy to record.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the bottom structure of the present invention;
FIG. 3 is a schematic view of the structure of the submersible vehicle of the present invention;
FIG. 4 is a schematic view of the internal structure of the submersible vehicle of the present invention;
FIG. 5 is a schematic view showing the internal structure of the sliding plate according to the present invention;
FIG. 6 is a schematic view of the structure of the first toothed plate of the present invention;
FIG. 7 is a schematic view of a limiting gear according to the present invention;
FIG. 8 is a schematic view of a mobile plate according to the present invention;
FIG. 9 is a schematic view of the structure of the mobile sleeve of the present invention;
FIG. 10 is a schematic view of the structure of the turning rod of the present invention;
FIG. 11 is a schematic view of the structure of the clamping plate of the present invention;
FIG. 12 is a schematic diagram of a mapping system of the present invention;
FIG. 13 is a schematic view of a docking module of the present invention;
FIG. 14 is a schematic view of an environmental positioning module according to the present invention;
FIG. 15 is a schematic view of a visual observation module according to the present invention;
FIG. 16 is a schematic diagram of a control module according to the present invention;
FIG. 17 is a schematic diagram of a mapping data recording module according to the present invention.
In the figure: 1. a hull; 2. a submergence device; 3. a first toothed plate; 4. a second toothed plate; 5. a fixing plate; 7. a first hydraulic lever; 8. a push plate; 9. a moving plate; 10. a sliding sleeve; 11. a moving sleeve; 12. a plug board; 13. a rotating rod; 14. a limit gear; 15. a spring; 16. a slide block; 17. a support rod; 18. a transmission gear; 19. a sliding plate; 20. a mounting groove; 21. a first rack; 22. a second rack; 23. a clamping plate; 24. a clamping plate; 25. a limiting plate; 26. a positioning plate; 27. a connecting plate; 28. swing rod; 29. a second hydraulic lever; 30. a support plate; 31. a hinged plate; 32. a third hydraulic lever; 33. a rotating plate; 34. a control box; 35. a positioner; 36. a storage box; 37. a camera; 38. a sonar plotter; 39. a fourth hydraulic lever;
100. a processor; 200. a butt joint module; 201. a recovery unit; 202. a laying unit; 203. a hull auxiliary docking unit; 300. an environment positioning module; 301. the Beidou positioning unit; 302. a depth sensor; 303. a positioning correction unit; 400. a visual observation module; 401. a visual positioning unit; 402. a graphics data acquisition unit; 403. an image calculation unit; 404. adjusting an observation angle; 500. a control module; 501. a first control unit; 502. a second control unit; 503. a third control unit; 504. a fourth manipulation unit; 600. a mapping data recording module; 601. a sonar monitoring unit; 602. a coordinate establishing unit; 603. a data calculation unit; 604. a data comparison unit; 700. and a remote control end.
Detailed Description
The embodiment of the invention provides an unmanned surveying and mapping ship capable of performing submerged scanning and a surveying and mapping system thereof.
Please refer to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11, including hull 1, hull 1 bottom is provided with the diver 2, hull 1 bottom fixedly connected with receive and release case 36, receive and release case 36 and diver 2 between connect through the steel cable, receive and release case 2 to the receipts of hull 1 top one side fixedly connected with control box 34 and locator 35, the equal fixedly connected with camera 37 of both sides around the bottom of diver 2, be favorable to observing the seabed condition, fixedly connected with sonar surveying instrument 38 in the middle of the bottom of diver 2, be convenient for scan surveying and mapping, the both sides of diver 2 all are provided with supporting component, supporting component includes two connecting plates 27, two pendulum rods 28 and two second hydraulic rods 29, two equal fixedly connected with backup pad 30 in bottom of two second hydraulic rods 29, two connecting plates 27 are respectively fixedly connected with both sides of diver 2, two second pendulum rods 28 are articulated in two connecting plates 27 one side respectively, two second hydraulic rods 29 are respectively fixedly connected with two bottom 28, two bottom plates 28 are respectively, two swing rods 31 are connected with two hinge plates 32 respectively, two hinge plates are respectively, two positions are respectively connected with two hinge plates 32, respectively, two hinge plates are respectively, two positions are respectively 32 are respectively, be convenient for two hinge plates are respectively, 32 are respectively connected with two swing plates are respectively, and two 32, respectively, and two positions are respectively, and two 32 are respectively, and 32.
The inside both sides of submersible 2 are provided with first pinion rack 3 and second pinion rack 4 relatively, first pinion rack 3 and second pinion rack 4 pass through submersible 2 both sides wall respectively and with submersible 2 sliding connection, first pinion rack 3 and second pinion rack 4 extend to the equal fixedly connected with fixed plate 5 of the outside one end of submersible 2, two fixed plate 5 bottoms all are provided with tensile subassembly, tensile subassembly includes splint 23, splint 23 fixedly connected with fixed plate 5 bottom, splint 23 inside fixedly connected with fourth hydraulic stem 39, fourth hydraulic stem 39 bottom rotation is connected with joint board 24, make fourth hydraulic stem 39 start drive joint board 24 carry out the flexible, thereby be convenient for make joint board 24 and stone joint, the inside sliding plate 19 that is provided with of submersible 2, the inside one side of submersible 2 is provided with movable plate 9, the inside cavity that has seted up of movable plate 9 cavity, the inside one side sliding connection of movable plate 9 has movable sleeve 11, the inside one end fixedly connected with bull stick 12 of movable sleeve 11 cavity, the inside rotation connection has bull stick 13, 13 top fixedly connected with spacing gear 14.
The opposite sides of the two fixing plates 5 are fixedly connected with limiting plates 25, the two limiting plates 25 penetrate through the two side walls of the submersible vehicle 2 respectively and are connected with a positioning plate 26 in a sliding mode with the submersible vehicle 2, a sliding groove is formed in the sliding plate 19, the positioning plate 26 penetrates through the sliding groove and is connected with the sliding groove in a sliding mode, a first rack 21 and a second rack 22 are fixedly connected with the two sides of the sliding plate 19 respectively, a supporting rod 17 is fixedly connected with one side of the inside of the submersible vehicle 2, a transmission gear 18 is connected with the outer side of the supporting rod 17 in a rotating mode, two sides of the transmission gear 18 are connected with the first rack 21 and the first toothed plate 3 in a meshed mode respectively, the transmission gear 18 limits the first toothed plate 3, the first toothed plate 3 is driven to move, two sides of the limiting gear 14 are connected with the second rack 22 and the second toothed plate 4 in a meshed mode, the limiting gear 14 limits the second toothed plate 4, and the second toothed plate 4 is driven to move.
A plurality of clamping grooves are formed in the outer side of the rotating rod 13, the clamping grooves are distributed in an annular array, a mounting groove 20 is formed in one side of the inside of the submersible 2, a first hydraulic rod 7 is fixedly connected to the inside of the mounting groove 20, a push plate 8 is fixedly connected to the output end of the first hydraulic rod 7, the push plate 8 is fixedly connected to one end of the moving plate 9, the push plate 8 is driven to move when the first hydraulic rod 7 is started, the push plate 8 is driven to move the moving plate 9, a sliding sleeve 10 is fixedly connected to one end of the inside of a cavity of the moving plate 9, a sliding block 16 is slidingly connected to the inside of the sliding sleeve 10, a spring 15 is arranged in the sliding sleeve 10, two ends of the spring 15 are fixedly connected with the sliding block 16 and the sliding sleeve 10 respectively, a through groove is formed in the inside of the moving sleeve 11, a pin 12 penetrates through groove and is slidingly connected with the through groove, and the pin 12 corresponds to the through groove and the clamping grooves, so that the pin 12 positions the pin 12 on the rotating rod 13.
Specifically, the ship body 1 is driven to a detection area, the submersible 2 is lowered into water to be submerged by the retraction box 36, the sonar mapping instrument 38 is started to scan and map, the surrounding environment is implemented by the camera 37, when a suspected pit blocked by stones or sundries is found, the ship body 1 is controlled to be driven to the vicinity of the pit, the submersible 2 is lowered to the position above the sundries, and the sundries are moved and mapped.
Embodiment one: when the shelter is in a symmetrical regular shape, such as a wood plate, an iron plate or other man-made articles, the rotating plate 33 is driven to extend through the third hydraulic rod 32, the rotating plate 33 is driven to push the swinging rod 28 to deflect, the swinging rod 28 is driven to move the second hydraulic rods 29 and the first toothed plate 3, the plurality of second hydraulic rods 29 and the supporting plates 30 are opened, the plurality of second hydraulic rods 29 are simultaneously driven to start, the plurality of second hydraulic rods 29 are driven to drive the plurality of supporting plates 30 to contact with nearby supportable objects, such as a riverbed, a seabed, rocks and the like, at the moment, the submersible 2 is positioned above the shelter, the stretching assemblies at two sides of the submersible 2 are positioned at two sides of the shelter, the push plate 8 is driven to move through the first hydraulic rod 7, the push plate 8 is driven to move the moving plate 9 is driven to move by the moving plate 9, the moving sleeve 11 is driven to move the rotating rod 13 and the limiting gear 14 to move by the moving sleeve 11, because the limiting gear 14 is meshed with the second toothed plate 4 and the second rack 22, the limiting gear 14 can drive the second toothed plate 4 and the second rack 22 to move simultaneously when moving, and because the plugboard 12 is inserted into the clamping groove of the rotating rod 13 at the moment to limit the rotating rod 13, the rotating rod 13 can not rotate at the moment, so the second toothed plate 4 and the second rack 22 can be driven to move stably, the second toothed plate 4 can drive the fixed plate 5 connected with the second toothed plate 4 to move when moving, the second rack 22 can drive the sliding plate 19 to move when moving, the sliding plate 19 can drive the first rack 21 to move, simultaneously the first rack 21 can drive the transmission gear 18 to rotate when moving, the transmission gear 18 can drive the first toothed plate 3 to move towards the reverse direction of the first rack 21, the first toothed plate 3 can drive the fixed plate 5 connected with the first toothed plate 3 to move, the two fixed plates 5 can move relatively, and drive two splint 23 inwards to remove, make two splint 23 carry out the centre gripping to shelter from the thing both sides, make fourth hydraulic stem 39 start simultaneously and drive joint board 24 and stretch out and draw back, make joint board 24 block with shelter from the thing rear side, make fourth hydraulic stem 39 drive joint board 24 shrink at last, make second hydraulic stem 29 extend simultaneously, can lift up the barrier, scan the survey and drawing again, can survey the condition in the pit.
Embodiment two: when the shielding object is in an asymmetric irregular shape, such as stone, the rotating plate 33 is driven to extend through the third hydraulic rod 32, the rotating plate 33 drives the swinging rod 28 to deflect, the swinging rod 28 drives the second hydraulic rods 29 and the first toothed plate 3 to move, the second hydraulic rods 29 and the supporting plates 30 are opened, the second hydraulic rods 29 are simultaneously driven, the second hydraulic rods 29 drive the supporting plates 30 to contact with nearby supportable objects, the pushing plate 8 is driven to move through the first hydraulic rods 7, the pushing plate 8 drives the moving plate 9 to move, the moving plate 9 drives the moving sleeve 11 to move, the moving sleeve 11 drives the rotating rod 13 and the limiting gear 14 to move, the limiting gear 14 drives the second toothed plate 4 and the second toothed bar 22 to move simultaneously, the inserting plate 12 is inserted into the clamping groove of the rotating rod 13 at the moment to limit the rotating rod 13, so the rotating rod 13 cannot rotate at this time, the second toothed plate 4 drives the fixed plate 5 connected with the second toothed plate 4 to move when moving, the second toothed bar 22 drives the sliding plate 19 to move when moving, the sliding plate 19 drives the first toothed bar 21 to move, meanwhile, the first toothed bar 21 drives the transmission gear 18 to rotate when moving, the transmission gear 18 rotates to drive the first toothed plate 3 to move towards the reverse direction of the first toothed bar 21, the first toothed plate 3 drives the fixed plate 5 connected with the first toothed plate 3 to move, the two fixed plates 5 relatively move and drive the two clamping plates 23 to move inwards, the two clamping plates 23 clamp two sides of a shielding object because the shielding object is in an irregular shape or because the position of the diving device 2 is not exactly in the middle of the shielding object, and possibly the diving device 2 is pushed by water flow in the diving process and does not exactly fall at a designated position, so the distance between the two clamping plates 23 and the shielding object is different, when the two clamping plates 23 are contracted inwards to approach the shielding object, one clamping plate 23 is firstly contacted with the shielding object, in the embodiment, the clamping plate 23 fixed at the bottom of the fixed plate 5 connected with the second toothed plate 4 is firstly contacted with the shielding object, the clamping plate 23 cannot move continuously under the blocking of the shielding object, so when the moving plate 9 is moving continuously, the second toothed plate 4 limits the limiting gear 14, meanwhile, the inserting plate 12 is inserted into the rotating rod 13, the rotating rod 13 cannot rotate, so when the moving plate 9 is moving, the moving sleeve 11 is pulled to slide in the moving plate 9, the sliding block 16 is pushed to move while sliding, the spring 15 is extruded by the sliding block 16, meanwhile, the rotating rod 13 is separated from the inserting plate 12 when the rotating rod 13 is separated, the rotating rod 13 can rotate freely, the limiting gear 14 is limited by the second toothed plate 4, when the rotating rod 13 moves, the rotating rod 13 drives the limit gear 14 to rotate, the limit gear 14 drives the second rack 22 to move continuously, the second rack 22 drives the sliding plate 19 and the first rack 21 to move, the first rack 21 drives the transmission gear 18 to rotate and drives the first toothed plate 3 to move reversely, the first toothed plate 3 drives the fixed plate 5 and the clamping plate 23 connected with the first toothed plate 3 to move continuously towards the shielding object, so that the two clamping plates 23 are finally contacted with two sides of the shielding object, the shielding object is clamped, the shielding object is lifted up to map the tunnel, the shielding object above the tunnel is moved away conveniently, the mapping of the tunnel is facilitated, the asymmetric shielding object can be carried, the shielding object can be carried without special precision in the control of the submergence device 2, the operation is convenient, and the mapping result is more accurate.
Referring to fig. 12, fig. 13, fig. 14, fig. 15, fig. 16 and fig. 17, the submersible scanning mapping system comprises a processor 100, the output end of the processor 100 is connected with a docking module 200, the output end of the processor 100 is also connected with an environment positioning module 300, the output end of the processor 100 is also connected with a visual observation module 400 and a control module 500, the output end of the visual observation module 400 is connected with the control module 500, the output end of the control module 500 is connected with a mapping data recording module 600, the output end of the mapping data recording module 600 is connected with the processor 100, the input end of the processor 100 is connected with a remote control end 700, the docking module 200 comprises a recovery unit 201, a deployment unit 202 and a ship body auxiliary docking unit 203, the submersible 2 is conveniently controlled to receive and release, the environment positioning module 300 comprises a Beidou positioning unit 301, a depth sensor 302 and a positioning correction unit 303, the ship body 1 is conveniently positioned, the visual observation module 400 comprises a visual positioning unit 401, the output end of the visual observation unit 401 is connected with a graphic data acquisition unit 402, the output end of the graphic data acquisition unit 402 is connected with an image calculation unit 403, the output end of the image calculation unit 403 is connected with an adjustment angle, the output end of the image calculation unit 403 is connected with an adjustment unit 602, the output end of the control unit 600 is connected with a control unit 602, the control unit is connected with a first control unit 501, the coordinate calculation unit is connected with a second coordinate calculation unit 602, the monitoring unit 602, and the coordinate calculation unit is connected with a third control unit 602, and the coordinate calculation unit is connected with a coordinate calculation unit 602.
Specifically, the remote control end 700 sends a signal to the processor 100, the processor 100 sends a signal to the docking module 200, the docking module 200 sends instructions to the recovery unit 201 and the deployment unit 202, the recovery unit 201 and the deployment unit 202 control the submersible vehicle 2 to carry out the submergence deployment of the retraction box 36 and the ascending recovery of the submersible vehicle 2, the hull auxiliary docking unit 203 sends instructions to assist the submersible vehicle 2 to carry out the recovery, the processor 100 sends a signal to the environment positioning module 300, the environment positioning module 300 sends instructions to the Beidou positioning unit 301, the Beidou positioning unit 301 positions the position of the hull 1, the depth sensor 302 positions the submergence depth of the submersible vehicle 2, and the positioning correction unit 303 corrects the positioning.
The method comprises the steps of sending a signal to the vision observation module 400 through the processor 100, enabling the vision observation module 400 to send an instruction to the vision positioning unit 401, enabling the vision positioning unit 401 to perform vision positioning, sending an instruction to the graphic data acquisition unit 402 through the vision observation module 400, enabling the graphic data acquisition unit 402 to acquire monitoring image data, enabling the image calculation unit 403 to calculate the image data, finally controlling the observation angle through the adjustment observation angle 404 to adjust, sending a signal to the control module 500 through the vision observation module 400, respectively controlling the third hydraulic rod 32, the second hydraulic rod 29, the fourth hydraulic rod 39 and the first hydraulic rod 7 through the first control unit 502, sending a signal to the mapping data recording module 600 through the control module 500, enabling the mapping data recording module 600 to send an instruction to the sonar monitoring unit 601, enabling the sonar monitoring unit 601 to perform mapping operation on a current water area, enabling the data calculation unit 603 to perform marking on the current coordinates through the coordinate building unit 602 after a gallery is found, enabling the data calculation unit 603 to perform mapping operation on the current coordinates after the gallery is removed, enabling the data calculation unit to perform mapping operation on the map data after the gallery is removed, enabling the data calculation unit 601 to perform mapping operation on the map data and the map data after the gallery is compared with the map operation data and the map data is removed, and the map operation data can be recorded and the map data can be removed, and the accuracy of the mapping operation is improved.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
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| CN202311748056.0A CN117719637A (en) | 2023-12-18 | 2023-12-18 | An unmanned surveying and mapping ship capable of diving and scanning and its surveying and mapping system |
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| CN202311748056.0A CN117719637A (en) | 2023-12-18 | 2023-12-18 | An unmanned surveying and mapping ship capable of diving and scanning and its surveying and mapping system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118238944A (en) * | 2024-04-01 | 2024-06-25 | 宁波市盛甬海洋技术有限公司 | Unmanned ocean survey vessel and use method thereof |
| CN118393435A (en) * | 2024-06-28 | 2024-07-26 | 山东华地测绘地理信息有限公司 | Ocean engineering water area mapping method and device |
| CN121475156A (en) * | 2025-11-21 | 2026-02-06 | 大连连大土木工程研究院有限公司 | A field mapping device for forestry surveys |
-
2023
- 2023-12-18 CN CN202311748056.0A patent/CN117719637A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118238944A (en) * | 2024-04-01 | 2024-06-25 | 宁波市盛甬海洋技术有限公司 | Unmanned ocean survey vessel and use method thereof |
| CN118238944B (en) * | 2024-04-01 | 2024-08-20 | 宁波市盛甬海洋技术有限公司 | Unmanned ocean survey vessel and use method thereof |
| CN118393435A (en) * | 2024-06-28 | 2024-07-26 | 山东华地测绘地理信息有限公司 | Ocean engineering water area mapping method and device |
| CN121475156A (en) * | 2025-11-21 | 2026-02-06 | 大连连大土木工程研究院有限公司 | A field mapping device for forestry surveys |
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