CN207798087U - Bathymetric surveying system - Google Patents
Bathymetric surveying system Download PDFInfo
- Publication number
- CN207798087U CN207798087U CN201820312552.XU CN201820312552U CN207798087U CN 207798087 U CN207798087 U CN 207798087U CN 201820312552 U CN201820312552 U CN 201820312552U CN 207798087 U CN207798087 U CN 207798087U
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- CN
- China
- Prior art keywords
- depth
- fixed link
- bathymetric surveying
- mechanical arm
- surveying system
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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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- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The utility model provides a kind of bathymetric surveying system, including robot arm device and depth-measuring system, depth detection apparatus in depth-measuring system is mounted on the free end of mechanical arm in robot arm device, and depth detection apparatus is electrically connected with Water depth measuring instrument host by way of wirelessly or non-wirelessly；In the depth detection apparatus, fixed link is vertical to be fixedly connected with the free end of mechanical arm, and the bottom end of fixed link is equipped with energy converter.Robot arm device rests in the bank for needing measured zone；Mechanical arm is reached above the measured zone water surface, ensures that energy converter is in the water surface or less 0.5m, and vertical with water surface holding, proceeds by the bathymetric surveying work of the point；Pass through the movement of the mobile realization measurement point position of mechanical arm；Realize bathymetric surveying.Bathymetric surveying point can be moved according to the wish of survey crew, can be evenly distributed in bathymetric surveying region, and the quality and efficiency of measurement are improved.
Description
Technical field
The utility model is related to bathymetric surveying field, especially a kind of bathymetric surveying system.
Background technology
Currently, general bathymetric surveying uses ship as measuring table, on the water due to ship floating, Wu Fagu
Fixed, in measurement process, ship is moved with flow, even if being power boat, when measuring a certain point, ship can not also surveyed
It measures fixed in point.Bathymetric surveying instrument is to calculate the depth of water by the time difference of energy converter transmitted wave and back wave, and when measurement is sent out
For ejected wave after the reflection of underwater initial land form, ship is moved into other positions with energy converter, has to measurement accuracy larger
It influences.
Ship is in dynamic water, and especially certain fluidised forms are complicated, in flow velocity urgency dynamic water, and ship can not be according to survey crew's
Wish is moved, and the distribution of measurement point position is unable to control, and possible regional area point is overstocked after being measured, and regional area is not
It measures, measures quality and be unable to get guarantee.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of bathymetric surveying system, can it is safe efficient,
Accurately bathymetric surveying is carried out in dynamic water area.
In order to solve the above technical problems, technical solution used by the utility model is：A kind of bathymetric surveying system,
Including robot arm device and depth-measuring system, the depth detection apparatus in depth-measuring system is mounted on machine in robot arm device
The free end of tool arm, depth detection apparatus are electrically connected with Water depth measuring instrument host by way of wirelessly or non-wirelessly；
In the depth detection apparatus, fixed link is vertical to be fixedly connected with the free end of mechanical arm, the bottom of fixed link
End is equipped with energy converter.
In preferred scheme, in the robot arm device, mechanical arm is connect with walking basal seat, and mechanical arm is equipped at least
Rotatable joint at two.
In preferred scheme, claw is equipped in the free end of mechanical arm, mounting base is fixedly connected with claw, mounting base with erect
Straight tube body is fixedly connected, and is equipped with multiple trip bolts in the side wall of tube body, fixed link penetrates into tube body, and by trip bolt
It is fixed.
In preferred scheme, spatial position positioning device is additionally provided on the top of fixed link.
In preferred scheme, the spatial position positioning device is GPS positioning device or Big Dipper positioning device.
In preferred scheme, vertical sensor, the axis of the vertical sensor and fixation are fixedly provided in fixed link
The axis of bar is parallel.
In preferred scheme, in the vertical sensor, the top of elastic rod is fixedly connected with the casing, and elastic rod is located at
The position of center line of vertical sensor housing, the bottom end of elastic rod are equipped with the induction sphere of metal material, and electricity is equipped in inner walls
Hold film.
In preferred scheme, depth transducer is additionally provided on the top of fixed link, in the depth transducer, drawstring one
End is fixedly connected with the top of fixed link, and the other end is connect with floating ball, and pulling force sensor is equipped between drawstring and floating ball.
A kind of measurement method using above-mentioned bathymetric surveying system includes the following steps：
S1, robot arm device rest in the bank for needing measured zone；
S2, mechanical arm is reached above the measured zone water surface, ensures that energy converter is in the water surface or less 0.5m, and and the water surface
It keeps vertical, proceeds by the bathymetric surveying work of the point；
S3, the movement by the mobile realization measurement point position of mechanical arm；
S4, mechanical arm coverage area in be measured after, walking basal seat moves a distance, continue through mechanical arm into
Row measures；
Bathymetric surveying is realized by above step.
It keeps energy converter to be located at underwater 0.5m in measurement process in preferred scheme and keeps horizontal with the water surface.
A kind of bathymetric surveying system provided by the utility model is mounted on machinery by using by depth detection apparatus
Method on arm realizes depth detection apparatus measurement point by the action of big forearm, revolution and the walking of walking basal seat of mechanical arm
The accurate movement of position.Using the device and method of the utility model, bathymetric surveying point can be according to the meaning of survey crew
Hope is moved, and can be evenly distributed in bathymetric surveying region, be greatly improved the quality of bathymetric surveying
And efficiency.The measurement method of the utility model realizes separate men from machines using mechanical arm as carrier is measured, and survey crew can be
The operation for measuring equipment on the bank ensure that the life safety of survey crew.
Description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and examples：
Fig. 1 is the overall structure diagram of the utility model.
Fig. 2 is the structural schematic diagram of fixed link in the utility model.
Fig. 3 is the attachment structure schematic diagram of depth detection apparatus in the utility model.
Fig. 4 is the preferred structure schematic diagram of depth detection apparatus in the utility model.
Fig. 5 is the structural schematic diagram of vertical sensor in the utility model.
Fig. 6 is the structural schematic diagram of depth transducer in the utility model.
In figure：Water depth measuring instrument host 1；Spatial position positioning device 2；Fixed link 3；Energy converter 4；Fixing device 5；Fastening
Screw 51；Mounting base 52；Tube body 53；Signal wire 6；Mechanical arm 7；Claw 71；Walking basal seat 72；Excavate platform 8；Vertical sensor
9；Elastic rod 91；Capactive film 92；Induction sphere 93；Depth transducer 10；Floating ball 101；Drawstring 102；Pulling force sensor 103.
Specific implementation mode
Embodiment 1：
In Fig. 1, a kind of bathymetric surveying system, including robot arm device and depth-measuring system, depth survey system
Depth detection apparatus in system is mounted on the free end of mechanical arm 7 in robot arm device, depth detection apparatus and Water depth measuring instrument
Host 1 is electrically connected by way of wirelessly or non-wirelessly；Water depth measuring instrument host 1 is arranged on the coast.
In the depth detection apparatus, fixed link 3 is vertical to be fixedly connected with the free end of mechanical arm 7, fixed link 3
Bottom end is equipped with energy converter 4.Long-armed backhoe may be used in robot arm device in this example, can also use other long mechanical arm dresses
It sets.The energy converter 4 is ultrasonic transducer, and the depth of water is calculated by the time difference of transmitted wave and back wave.
In preferred scheme such as Fig. 1, in the robot arm device, mechanical arm 7 is with walking basal seat 72 with rotatable side
Formula connects, and mechanical arm 7 is equipped with rotatable joint at least two.Rotatable joint, respectively pawl at three are equipped in this example
Portion joint, small shoulder joint and large-arm joint.
In preferred scheme such as Fig. 1 ~ 4, it is equipped with claw 71 in the free end of mechanical arm 7, mounting base 52 is fixed with claw 71
Connection, mounting base 52 are fixedly connected with vertical tube body 53, and multiple trip bolts 51, fixed link 3 are equipped in the side wall of tube body 53
It penetrates into tube body 53, and is fixed by trip bolt 51.
In preferred scheme such as Fig. 2 ~ 4, spatial position positioning device 2 is additionally provided on the top of fixed link 3.
In preferred scheme, the spatial position positioning device 2 is GPS positioning device or Big Dipper positioning device.Thus
Structure, depth of water numerical value is corresponding with spatial position.
In preferred scheme such as Fig. 4,5, vertical sensor 9 is fixedly provided in fixed link 3, the vertical sensor 9
Axis is parallel with the axis of fixed link 3.
In preferred scheme such as Fig. 5, in the vertical sensor 9, the top of elastic rod 91 is fixedly connected with the casing, bullet
Property bar 91 be located at the position of center line of 9 shell of vertical sensor, the bottom end of elastic rod 91 is equipped with the induction sphere 93 of metal material,
Inner walls are equipped with capactive film 92.Thus structure, when vertical sensor 9 keeps vertical, capactive film 92 detects and incudes
The position of ball 93 is consistent, when vertical sensor 9 tilts, induction sphere 93 close to side capactive film 92, and far from another
The capactive film 92 of side to which the voltage per side is influenced to change by the induction sphere 93 of metal material, therefore obtains inclined
Direction and numerical value are modified posture in the operating personnel of walking basal seat 72 according to numerical value, so that it is guaranteed that fixed link 3 keeps perpendicular
Directly.
In preferred scheme such as Fig. 4,6, depth transducer 10, the depth sensing are additionally provided on the top of fixed link 3
In device 10,102 one end of drawstring is fixedly connected with the top of fixed link 3, and the other end is connect with floating ball 101, in drawstring 102 and floating ball
Pulling force sensor 103 is equipped between 101.It is controlled in 0.5m, when the pawl of mechanical arm 7 from 101 bottom of floating ball to the height of energy converter 4
Portion 71 when being put into the water surface or less appropriate location, after floating ball 101 is by buoyancy, that is, stretches pulling force sensor 103, to control
Energy converter 4 is in water surface depth below.
Embodiment 2：
In Fig. 1, a kind of measurement method using above-mentioned bathymetric surveying system includes the following steps：
Mounting base 52 and claw 71 are fixed and are connected by s1, the claw 71 that depth detection apparatus is fixedly mounted on to mechanical arm 7
It connects, fixed link 3 is inserted into tube body 53 by fixed link 3 and 4 mutually perpendicular connection of energy converter, tightens trip bolt 51, pacify
Fill vertical sensor 9, it is ensured that the axis of vertical sensor 9 is parallel with the axis of fixed link 3, and peace is fixed on the top of fixed link 3
Fill the drawstring 102 of spatial position positioning device 2 and depth transducer 10.Robot arm device rests in needs by walking basal seat 72
The bank of measured zone；To ensure the safety of the equipment in measurement process, the crawler belt of walking basal seat 72 when robot arm device is stopped
Face bank and crawler belt end stay the safe distance of 1.5 ~ 2m far from bank.By depth detection apparatus and the water-depth measurement for being located at bank
Instrument host 1 is connected by signal wire 6, it is preferred that it is also feasible to use wireless connection.
S2, mechanical arm is reached above the measured zone water surface, ensures that energy converter is in the water surface or less 0.5m, and and the water surface
It keeps vertical, proceeds by the bathymetric surveying work of the point；
S3, the movement by the mobile realization measurement point position of mechanical arm 7；
When s4, measurement, after the complete point in a row of 72 crawler belt direction of walking basal seat sequence, pass through the movement of mechanical arm 7
Or revolution carries out the measurement of next row point；After being measured in the coverage area of mechanical arm 7, walking basal seat 72 move one section away from
From continuing through mechanical arm 7 and measure；
In preferred scheme, keeps energy converter 4 to be located at underwater 0.5m in measurement process and keep horizontal with the water surface.
Bathymetric surveying is realized by above step.
The above embodiments are only the optimal technical scheme of the utility model, and are not construed as the limit for the utility model
System, the technical characteristic described in the utility model can be combined with each other use under the premise of not conflicting, the utility model
Technical characteristic is equal in the technical solution that protection domain should be recorded with claim, including the technical solution of claim record
Alternative is protection domain.Equivalent replacement i.e. within this range is improved, and is also within the protection scope of the utility model.
Claims (8)
1. a kind of bathymetric surveying system, it is characterized in that：Including robot arm device and depth-measuring system, depth-measuring system
In depth detection apparatus be mounted on robot arm device in mechanical arm（7）Free end, depth detection apparatus and Water depth measuring instrument
Host（1）It is electrically connected by way of wirelessly or non-wirelessly；
In the depth detection apparatus, fixed link（3）Vertical and mechanical arm（7）Free end be fixedly connected, fixed link（3）
Bottom end be equipped with energy converter（4）.
2. a kind of bathymetric surveying system according to claim 1, it is characterized in that：In the robot arm device, machine
Tool arm（7）With walking basal seat（72）Connection, mechanical arm（7）It is equipped with rotatable joint at least two.
3. a kind of bathymetric surveying system according to claim 1, it is characterized in that：In mechanical arm（7）Free end set
There is claw（71）, mounting base（52）With claw（71）It is fixedly connected, mounting base（52）With vertical tube body（53）It is fixedly connected,
Tube body（53）Side wall be equipped with multiple trip bolts（51）, fixed link（3）Penetrate into tube body（53）It is interior, and by trip bolt（51）
It is fixed.
4. a kind of bathymetric surveying system according to claim 1, it is characterized in that：In fixed link（3）Top also set
There is spatial position positioning device（2）.
5. a kind of bathymetric surveying system according to claim 4, it is characterized in that：The spatial position positioning device
（2）For GPS positioning device or Big Dipper positioning device.
6. a kind of bathymetric surveying system according to claim 1, it is characterized in that：Fixed link（3）On be fixedly provided with it is perpendicular
Direct transfer sensor（9）, the vertical sensor（9）Axis and fixed link（3）Axis it is parallel.
7. a kind of bathymetric surveying system according to claim 6, it is characterized in that：The vertical sensor（9）In,
Elastic rod（91）Top be fixedly connected with the casing, elastic rod（91）Positioned at vertical sensor（9）The position of center line of shell, bullet
Property bar（91）Bottom end be equipped with metal material induction sphere（93）, capactive film is equipped in inner walls（92）.
8. a kind of bathymetric surveying system according to claim 1, it is characterized in that：In fixed link（3）Top also set
There is depth transducer（10）, the depth transducer（10）In, drawstring（102）One end and fixed link（3）Top fix connect
It connects, the other end and floating ball（101）Connection, in drawstring（102）With floating ball（101）Between be equipped with pulling force sensor（103）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820312552.XU CN207798087U (en) | 2018-03-07 | 2018-03-07 | Bathymetric surveying system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820312552.XU CN207798087U (en) | 2018-03-07 | 2018-03-07 | Bathymetric surveying system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207798087U true CN207798087U (en) | 2018-08-31 |
Family
ID=63275960
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820312552.XU Withdrawn - After Issue CN207798087U (en) | 2018-03-07 | 2018-03-07 | Bathymetric surveying system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207798087U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108267127A (en) * | 2018-03-07 | 2018-07-10 | 中国葛洲坝集团第工程有限公司 | Bathymetric surveying system and method |
-
2018
- 2018-03-07 CN CN201820312552.XU patent/CN207798087U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108267127A (en) * | 2018-03-07 | 2018-07-10 | 中国葛洲坝集团第工程有限公司 | Bathymetric surveying system and method |
| CN108267127B (en) * | 2018-03-07 | 2024-05-03 | 中国葛洲坝集团第一工程有限公司 | Underwater topography measurement system and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180831 Effective date of abandoning: 20220408 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20180831 Effective date of abandoning: 20220408 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |