CN202928573U - Vertical real-time control device of non-tide water depth measuring measurement rod of GPS (Global Positioning System) - Google Patents
Vertical real-time control device of non-tide water depth measuring measurement rod of GPS (Global Positioning System) Download PDFInfo
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- CN202928573U CN202928573U CN2012205118646U CN201220511864U CN202928573U CN 202928573 U CN202928573 U CN 202928573U CN 2012205118646 U CN2012205118646 U CN 2012205118646U CN 201220511864 U CN201220511864 U CN 201220511864U CN 202928573 U CN202928573 U CN 202928573U
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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
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- Y02A90/30—Assessment of water resources
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Abstract
The utility model discloses a vertical real-time control device of a non-tide water depth measuring measurement rod of a GPS (Global Positioning System). The vertical real-time control device comprises a fixing rack, a turbulent flow cover, a rocker, an attitude and position sensor and a mini-type control computer, wherein the upper end of the rocker is connected with a transverse electric cylinder and a vertical electric cylinder; the transverse electric cylinder and the vertical electric cylinder are arranged in a right angle; one end of each of the transverse electric cylinder and the vertical electric cylinder is connected with the upper end of the rocker through one spherical hinge, and the other ends of the transverse electric cylinder and the vertical electric cylinder are connected with the fixing rack through one spherical hinge; the lower end part of the rocker is connected with a support plate through a Hooke hinge; the support plate is fixedly connected with the internal lower part of the turbulent flow cover; a measuring rod is mounted inside the rocker in a penetrating manner; a GPS positioning block is mounted at the upper end of the measuring rod, and a sonar emitter is mounted at the lower end of the measuring rod; the mini-type control computer collects an attitude signal of the measuring rod, generates a control signal, and transmits the control signal to the electric cylinders; and the electric cylinders draw the measuring rod to a vertical position through retraction. With the adoption of the vertical real-time control device provided by the utility model, the measuring rod keeps a vertical state all along, so that the sounding precision is improved.
Description
Technical field
The utility model relates to a kind of marine bathymetric survey and keeps the vertical control device of measuring staff, particularly relates to a kind of GPS without the vertical real-time control apparatus of tidal observation bathymetric survey measuring staff.
Background technology
Along with the energetically investment of country to capital constructions such as harbours, the projects such as harbour, navigation channel, reservoir, reclaiming land around sea, navigation hinge put into operation in enormous quantities, and science, accurate design planning theory are had higher requirement to the bathymetric survey precision.Accurate bathymetric data will provide strong Data support for design, ship dredging construction process.
In recent years, the RTK location technology makes it high-precision three-dimensional location and is able to real-time implementation.GPS is exactly the real-time three-dimensional coordinate that GPS-RTK is obtained without the tidal observation bathymetric survey, with synchronize the depth measurement data and resolve, obtain in real time accurate submarine topography altitude figures and planimetric coordinates, change two dimensional surface and located the traditional measurement pattern that adds the tidal observation depth measurement, opened up the new method of marine charting technology.Its principle is: utilize the GPS-RTK measuring technique and the planimetric coordinates that obtains is used for navigator fix, elevation is used for correction of depth, the antenna height that is about to record deducts antenna to water surface elevation and the instantaneous water depth value that records, obtain this submarine topography elevation, can reach the centimetre-sized total accuracy of sounding in theory.Must not set up specially tidal station to measure tidal level, exempt the tidal observation operation of traditional sense.
But GPS-RTK is the depth measurement boats and ships without the carrier of tidal observation water depth measuring system work, in measuring process, due to the variation of the attitudes such as boats and ships pitching, rolling, heave, will inevitably cause that gps antenna and the transducer on ship produces corresponding the variation, cause plane positioning and sounding error.This under high sea condition without inclining and shake the sounding error that brings and especially need to correct for reducing boats and ships in the tidal observation bathymetric survey.
The boats and ships lateral oscillation causes the variation of transducer attitude, make the direction emission to the left or to the right of the relative boats and ships of launching beam, thereby offset from perpendicular causes error, establishes α for surveying the ship roll angle; The boats and ships oscillation in the pitch mode causes the variation of transducer attitude, make the relative boats and ships of launching beam forwards or rearward oblique fire, thereby offset from perpendicular causes error, establishes β for surveying the ship pitch angle.Be smooth landform to the seabed, boats and ships laterally with vertically generally occur simultaneously, and both comprehensively have following relationship to depth measurement:
d=Sm*cosα*cosβ （1-1）
In formula, Sm is the actual measurement water depth value, and d is real depth.
Traditional correcting method is that the configuration attitude sensor claims again heave compensator, and it is that dynamic change for towed body in depth measurement hull or water designs.The main model of attitude sensor has the DMS2-05 series of products of Britain TSS company production and the series of products such as MRU that Norway company produces in the world at present.The high-precision attitude sensor can be measured carrier simultaneously vertically swings, the roll and pitch amplitude, imports the angle of inclination real-time measurement values into computing machine and utilizes formula 1-1, calculates its vertical correction by software.
This method corrects effect or significantly in physical features smooth seabed, but in the district of dredging, berth harbor district and deep water fairway are measured, and because landform changes violently, corrects with this calculating means, and precision does not just have assurance, the wrong depth of water even occurs.And the high-precision attitude sensor mainly relies on import, and price is higher, and using in conventional bathymetric survey has limitation.
The utility model content
The utility model provides a kind of GPS without the vertical real-time control apparatus of tidal observation bathymetric survey measuring staff for solving the technical matters that exists in known technology, this device can realize that sounding boat following sea stream waves, and the shipboard measuring staff remains vertical state, from but GPS locating piece and sonar transmitter remain on same vertical line, can give full play to the advantage of GPS-RTK high-precision three-dimensional location, avoid calculating inclination correction, truly reflect submarine topography, improve total accuracy of sounding.
The technical scheme that the utility model is taked for the technical matters that exists in the solution known technology is: a kind of GPS is without the vertical real-time control apparatus of tidal observation bathymetric survey measuring staff, and this control device comprises:
1) be fixed in the fixed mount of sounding boat one side;
What 2) be fixed in the described fixed mount outside scratches the stream cover;
3) be arranged on described rocking arm of scratching in the stream cover, the upper end of described rocking arm is connected with train wheel bridge, the lower end is connected with lower plate, the upper end of described rocking arm is connected with transverse electric cylinder and longitudinal electric cylinder, described transverse electric cylinder and the described longitudinal electric cylinder layout that meets at right angles, their end respectively is connected with the upper end of described rocking arm by a ball pivot, and their other end respectively is connected with described fixed mount by a ball pivot;
The bottom of described rocking arm is connected with support plate by hook hinge, and described support plate is fixed in described interior bottom of scratching the stream cover;
4) be installed on the interior measuring staff of described rocking arm, described measuring staff is by described train wheel bridge and described lower plate clamping, and the upper end is equipped with the GPS locating piece, and the lower end is equipped with sonar transmitter;
5) be arranged on attitude orientation sensor on sounding boat;
6) be arranged on micro-control computer on sounding boat; Described micro-control computer collection is from rolling signal and the pitching signal of described attitude orientation sensor, and generate the transverse shifting control signal and vertically move control signal, be transferred to described transverse electric cylinder and described longitudinal electric cylinder, described transverse electric cylinder and described longitudinal electric cylinder are drawn to vertical position by flexible with described measuring staff.
Be separately installed with displacement transducer on described transverse electric cylinder and described longitudinal electric cylinder, described micro-control computer also gathers the measuring staff Displacement Feedback signal from described displacement transducer, and in conjunction with the rolling signal and the pitching signal that pick up from described double-shaft tilt angle sensor, described transverse electric cylinder and described longitudinal electric cylinder is carried out closed-loop control.
Described micro-control computer is industrial computer.
Described attitude orientation sensor is double-shaft tilt angle sensor.
Described displacement transducer is linear displacement transducer.
Advantage and the good effect that the utlity model has are: adopt centralized control, realize all controlling function with an industrial computer, adopt double-shaft tilt angle sensor and closed-loop control structure, by measuring measuring staff at x, the inclination angle on the y both direction is by calculating, control and laterally, vertically drive electric cylinder, measuring staff is drawn to vertical state, and makes it keep vertical state, make the GPS-RTK measurement realize high precision.The utility model torsion is large, can reach 1000KN; Reliable operation satisfies precision and rate request, and antijamming capability is strong; Delicate structure, easy installation and removal; Be convenient to safeguard, adapt to the Jobs on the sea environment; Cost is low, rely on import equipment cheaply over half than tradition, and function is more practical, and cost performance is high.
Description of drawings
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structured flowchart of the utility model control system.
In figure: the 1.GPS locating piece, 2. train wheel bridge, 3. transverse electric cylinder, 4. rocking arm, 5. scratch the stream cover, 6. hook hinge, 7. lower plate, 8. support, 9. measuring staff, 10. sonar transmitter, 11. support plates, 12. anchor chain snap rings, 13. fixed mount, 14. blocks, 15. clamping screws, 16. longitudinal electric cylinders, 17. ball pivots.
Embodiment
For further understanding summary of the invention of the present utility model, Characteristic, hereby exemplify following examples, and coordinate accompanying drawing to be described in detail as follows:
See also Fig. 1～Fig. 2, a kind of GPS is without the vertical real-time control apparatus of tidal observation bathymetric survey measuring staff, and this device comprises:
1) be fixed in the fixed mount 13 of sounding boat one side, fixed mount 13 is fixed on a side of sounding boat by clamping screw 15 and anchor chain, and anchor chain is connected by anchor chain snap ring 12 with fixed mount 13, and two anchor chain snap rings 12 are arranged on respectively the two bottom sides of fixed mount 13;
What 2) be fixed in fixed mount 13 outsides scratches stream cover 5;
3) be arranged on the Rocker arm 4 of scratching in stream cover 5, the upper end of Rocker arm 4 is connected with train wheel bridge 2, and the lower end is connected with lower plate 7, and lower plate 7 is fixed on the lower end of Rocker arm 4 by support 8;
The bottom of Rocker arm 4 is connected by hook hinge 6 with support plate 11, and support plate 11 is fixed in the interior bottom of scratching stream cover 4;
The upper end of Rocker arm 4 is connected with transverse electric cylinder 3 and longitudinal electric cylinder 16, transverse electric cylinder 3 and longitudinal electric cylinder 16 layout that meets at right angles, their end respectively is connected with the upper end of Rocker arm 4 by a ball pivot 17, their other end respectively is connected with fixed mount 13 by a ball pivot 17, fixed mount 13 is provided with fixed stop 14, and ball pivot 17 is connected on block 14.
Above-mentioned electric cylinder contains servomotor and driver, is produced by Moog company, and model is J884-001.The servo electric jar stroke is 445mm, and maximal rate is 555mm/s, and maximum thrust is 20.5kN, and anti-revolution mode is outside anti-revolution.The ball screw diameter that adopts is 32mm, and helical pitch is 20mm, and maximum time gap O.1mm. Timing Belt reduction gear ratio is 2:l.Servo electric jar institute gas-distributing motor is the Moog permanent magnet synchronous servo motor, and model is G464-926, built-in brake.The parameter of electric machine is as follows:
Motor pole number: 12
Rated power: 2.6kW
Rated speed: 3000rpm
Voltage: 400V
Rotor inertia: 0.00068kg.m
2
Resistance: 2.8Q
Inductance: 0.0106H
Feedback system: Resolver, 1024 lines
The servo-driver model is DS2000 14/42, can be used for driving brshless DC motor and permagnetic synchronous motor, has two kinds of control models of speed closed loop and moment closed loop, can accept ± control of 10V simulating signal.
4) be installed on measuring staff 9 in Rocker arm 4, measuring staff 9 and by train wheel bridge 2 and lower plate 7 clampings, the upper end is equipped with GPS locating piece 1, and the lower end is equipped with sonar transmitter 10,
5) be arranged on attitude orientation sensor on sounding boat; Used in the present embodiment the high-precision dual-axis obliquity sensor.Model is Schaevitz T233, can measure simultaneously the inclination angle value of horizontal diaxon, rolling, pitching angle for detection of measuring staff, measurement range is ± 30 °, supply voltage is ± 15V, the single shaft precision is ± 0.01%, and the sensitivity of diaxon cross-couplings is 0.2%FRO, and temperature is floated coefficient and is ± 0.005%FRo/ ℃.
6) be arranged on the transversal displacement sensor on transverse electric cylinder 3 and be arranged on length travel sensor on longitudinal electric cylinder 16; 2 displacement transducers are the GEFRAN linear displacement transducer, and model is LT-M-500-S, can measure stroke 500mm, and independent linearity is 0.05%, repeated 0.01mm, and unlimited resolution allows maximum displacement speed 5m/s, peak acceleration 200m/s
2, working temperature-30 °-+100 ° of C.
7) micro-control computer, micro-control computer adopts and grinds magnificent industrial computer IPC.610P, and its CPU is P42.4G.The A/D capture card adopts Taiwan to grind the PCL812 high-speed data acquisition card of magnificent company.Its Specifeca tion speeification:
16 A/D passages independently, the resolution of A/D converter is 12, line victory degree is ± the l position, precision is full scale ± 0.015%, maximum sample frequency is 30kHz, internal timebase 2MHz, on support software triggering, plate, programmable timer triggers and three kinds of triggering modes of external trigger, supports inquiry, interruption and three kinds of transmission side data forces of DMA.
The D/A card adopts Taiwan to grind the PCL726 card of magnificent company.Its Specifeca tion speeification: 6 only mutual D/A ALT-CH alternate channels, the resolution of D/A converter is 12.
Industrial computer gathers rolling signal and the pitching signal from double-shaft tilt angle sensor, and generate the transverse shifting control signal and vertically move control signal, be transferred to transverse electric cylinder and longitudinal electric cylinder, transverse electric cylinder and longitudinal electric cylinder are drawn to vertical position by stretching motion with measuring staff.
Industrial computer also gathers the measuring staff Displacement Feedback signal from transverse electric cylinder and longitudinal electric cylinder, in conjunction with the rolling signal that picks up from double-shaft tilt angle sensor and pitching signal, electric cylinder is carried out closed-loop control.
The data that the utility model waves according to sounding boat following sea stream, control electric cylinder measuring staff is drawn to vertical position, GPS locating piece and sonar transmitter are remained on same vertical line, because the length of connecting rod between GPS locating piece and sonar transmitter is a fixed value, so the vertical fluctuating of sounding boat brings impact can not under water topographic precision.But waving the inclination that can cause connecting rod between GPS locating piece and sonar transmitter and causing planimetric position and sounding error of sounding boat as long as the attitude of ship parameter is known in its impact, can be obtained in diagram.
The utility model is specially adapted to marine charting GPS without in the tidal observation bathymetric survey, can keep in real time the vertical of measuring staff, reduce effectively to improve total accuracy of sounding because waving of sounding boat causes planimetric position that the inclination of link rod between gps antenna and depth sounder transducer causes and the error of depth measurement.To integrate the multinomial technology such as sensor technology, electronic technology, Precision Machinery Design, precise motion control, system engineering technology, take electromechanical integration, control engineering as main body, the product that a plurality of subjects organically combine.
Although the above is described preferred embodiment of the present utility model by reference to the accompanying drawings; but the utility model is not limited to above-mentioned embodiment; above-mentioned embodiment is only schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present utility model; not breaking away from the scope situation that the utility model aim and claim protect, can also make a lot of forms, within these all belong to protection domain of the present utility model.
Claims (5)
1. a GPS without the vertical real-time control apparatus of tidal observation bathymetric survey measuring staff, is characterized in that, this control device comprises:
1) be fixed in the fixed mount of sounding boat one side;
What 2) be fixed in the described fixed mount outside scratches the stream cover;
3) be arranged on described rocking arm of scratching in the stream cover, the upper end of described rocking arm is connected with train wheel bridge, and the lower end is connected with lower plate,
The upper end of described rocking arm is connected with transverse electric cylinder and longitudinal electric cylinder, described transverse electric cylinder and the described longitudinal electric cylinder layout that meets at right angles, their end respectively is connected with the upper end of described rocking arm by a ball pivot, and their other end respectively is connected with described fixed mount by a ball pivot;
The bottom of described rocking arm is connected with support plate by hook hinge, and described support plate is fixed in described interior bottom of scratching the stream cover;
4) be installed on the interior measuring staff of described rocking arm, described measuring staff is by described train wheel bridge and described lower plate clamping, and the upper end is equipped with the GPS locating piece, and the lower end is equipped with sonar transmitter;
5) be arranged on attitude orientation sensor on sounding boat;
6) be arranged on micro-control computer on sounding boat; Described micro-control computer collection is from rolling signal and the pitching signal of described attitude orientation sensor, and generate the transverse shifting control signal and vertically move control signal, be transferred to described transverse electric cylinder and described longitudinal electric cylinder, described transverse electric cylinder and described longitudinal electric cylinder are drawn to vertical position by flexible with described measuring staff.
According to claim 1 GPS without the vertical real-time control apparatus of tidal observation bathymetric survey measuring staff, it is characterized in that, be separately installed with displacement transducer on described transverse electric cylinder and described longitudinal electric cylinder, described micro-control computer also gathers the measuring staff Displacement Feedback signal from described displacement transducer, and in conjunction with the rolling signal and the pitching signal that pick up from described double-shaft tilt angle sensor, described transverse electric cylinder and described longitudinal electric cylinder is carried out closed-loop control.
3. GPS without the vertical real-time control apparatus of tidal observation bathymetric survey measuring staff, is characterized in that according to claim 1, and described micro-control computer is industrial computer.
4. GPS without the vertical real-time control apparatus of tidal observation bathymetric survey measuring staff, is characterized in that according to claim 1, and described attitude orientation sensor is double-shaft tilt angle sensor.
5. GPS without the vertical real-time control apparatus of tidal observation bathymetric survey measuring staff, is characterized in that according to claim 2, and described displacement transducer is linear displacement transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012205118646U CN202928573U (en) | 2012-09-29 | 2012-09-29 | Vertical real-time control device of non-tide water depth measuring measurement rod of GPS (Global Positioning System) |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012205118646U CN202928573U (en) | 2012-09-29 | 2012-09-29 | Vertical real-time control device of non-tide water depth measuring measurement rod of GPS (Global Positioning System) |
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| CN202928573U true CN202928573U (en) | 2013-05-08 |
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| CN2012205118646U Expired - Fee Related CN202928573U (en) | 2012-09-29 | 2012-09-29 | Vertical real-time control device of non-tide water depth measuring measurement rod of GPS (Global Positioning System) |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103910050A (en) * | 2014-03-07 | 2014-07-09 | 苏州声光达水下探测仪器有限公司 | Multibeam echosounder array broadside lifting installing device |
| CN104037485A (en) * | 2014-05-14 | 2014-09-10 | 浙江海洋学院 | GPS antenna and sounding probe combination installation device |
| CN104729486A (en) * | 2015-03-16 | 2015-06-24 | 东南大学 | Bathymetric surveying method without tide observation based on quasigeoid refinement |
| CN107677246A (en) * | 2017-10-05 | 2018-02-09 | 武汉桓参工程科技有限公司 | A kind of RTK inclination measuring devices |
| CN110954072A (en) * | 2019-12-20 | 2020-04-03 | 深圳大学 | Water depth detection method and device and storage medium |
| KR102197267B1 (en) * | 2019-11-04 | 2020-12-31 | 한국해양과학기술원 | Multipurpose supporting device of underwater equipment for small ship |
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2012
- 2012-09-29 CN CN2012205118646U patent/CN202928573U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103910050A (en) * | 2014-03-07 | 2014-07-09 | 苏州声光达水下探测仪器有限公司 | Multibeam echosounder array broadside lifting installing device |
| CN103910050B (en) * | 2014-03-07 | 2016-06-01 | 苏州声光达水下探测仪器有限公司 | Multibeam echosounder base battle array topside hangs installation device |
| CN104037485A (en) * | 2014-05-14 | 2014-09-10 | 浙江海洋学院 | GPS antenna and sounding probe combination installation device |
| CN104037485B (en) * | 2014-05-14 | 2016-07-06 | 浙江海洋学院 | A kind of gps antenna and depth measurement probe combination erecting device |
| CN104729486A (en) * | 2015-03-16 | 2015-06-24 | 东南大学 | Bathymetric surveying method without tide observation based on quasigeoid refinement |
| CN107677246A (en) * | 2017-10-05 | 2018-02-09 | 武汉桓参工程科技有限公司 | A kind of RTK inclination measuring devices |
| KR102197267B1 (en) * | 2019-11-04 | 2020-12-31 | 한국해양과학기술원 | Multipurpose supporting device of underwater equipment for small ship |
| CN110954072A (en) * | 2019-12-20 | 2020-04-03 | 深圳大学 | Water depth detection method and device and storage medium |
| CN110954072B (en) * | 2019-12-20 | 2021-12-21 | 深圳大学 | Water depth detection method and device and storage medium |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130508 Termination date: 20170929 |
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| CF01 | Termination of patent right due to non-payment of annual fee |