CN208121858U - A kind of dredging operation vehicle with underwater sludge detecting function - Google Patents
A kind of dredging operation vehicle with underwater sludge detecting function Download PDFInfo
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- CN208121858U CN208121858U CN201820365423.7U CN201820365423U CN208121858U CN 208121858 U CN208121858 U CN 208121858U CN 201820365423 U CN201820365423 U CN 201820365423U CN 208121858 U CN208121858 U CN 208121858U
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- dredging
- detection device
- capsul
- sludge
- operation vehicle
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Abstract
The utility model discloses a kind of dredging operation vehicles with underwater sludge detecting function, including dredging vehicle main body, further include：Set on the sludge detection device of the dredging vehicle body top；For installing the support frame of the sludge detection device；And the driving mechanism for driving the sludge detection device rotation.Sludge detection device is installed on Operation Van's body top by support frame, driving mechanism drives the rotation of sludge detection device, 0~360 ° of rotation angle range (is no more than 360 °), detection scanning is carried out to environment near Operation Van, the scanning range of entire bottom of pond can be detected in a certain range, scan data is transferred to ground terminal, dredging vehicle is remotely controlled to staff and provides judgment basis, it can be achieved that fixed point dredging.
Description
Technical field
The utility model relates to a kind of underwater desilting equipment, and in particular to a kind of dredging with underwater sludge detecting function
Operation Van.
Background technique
During wastewater treatment facility operation, some insoluble particulate matters are gradually accumulated in pond, and final siltation exists
Bottom of pond causes bottom water flow resistance to increase, and mud siltation phenomenon deteriorates, and water pipe can be blocked when serious, damages mechanical equipment, therefore
Underwater desilting becomes a key of water treatment technology maintenance.Underwater desilting Operation Van is that one kind simply has safe dredging clearly
Method, however in the pond of higher turbidity and coloration, the position of mud accumulation can not be found by way of imaging with light,
Entire bottom of pond can only be cleaned to one time all to complete dredging, pond biggish for one but siltation point is few and disperse, this
Kind manner of cleaning up just seems time-consuming and power-consuming.
Utility model content
The utility model provides a kind of dredging operation vehicle with high concentrtion underwater sludge detecting function, can detect bottom of pond
The position of mud accumulation, carries out fixed point cleaning.
A kind of dredging operation vehicle with underwater sludge detecting function, including dredging vehicle main body further include：
Set on the sludge detection device of the dredging vehicle body top；
For installing the support frame of the sludge detection device；
And the driving mechanism for driving the sludge detection device rotation.
Sludge detection device is installed on Operation Van's body top by support frame, and driving mechanism driving sludge detection device exists
Horizontal rotation in surface, 0~360 ° of rotation angle range (are no more than 360 °), carry out detection scanning to environment near Operation Van,
The scanning range that entire bottom of pond can be detected in a certain range, is transferred to ground terminal for scan data, gives staff
It is remotely controlled dredging vehicle and provides judgment basis, it can be achieved that fixed point dredging.
Preferably, support frame as described above includes：
Lifter is fixed on dredging vehicle body top；
Gyro-stabilized platform at the top of lifter, the sludge detection device are installed on the gyro-stabilized platform.
The mounting height of the adjustable sludge detection device of lifter, gyro-stabilized platform are convenient for the stabilization of sludge unilateral side device
Installation.
Preferably, the sludge detection device includes：
Capsul；
The sonar array being installed on the vertical lateral surface of capsul；
And three-dimensional electronic compass, power amplifier and output circuit in capsul；
Sonar array, power amplifier and output circuit are sequentially connected electrically, and the output circuit transmits a signal to ground
Terminal device.
The equal output valve ground terminal such as computer of the signal of three-dimensional electronic compass and output circuit, judges sludge
Distance and bearing, staff are remotely controlled dredging vehicle according to result and advance to sludge.
It is further preferred that the arrangement of the sonar array is the vertical side that equidistant ring-type is installed on capsul
Face.
It is further preferred that the quantity that sonar is popped one's head in sonar array is 1~8.All sonar probes are put with power
Big device electrical connection.Sonar probe can pass through commercially available acquisition.
It is further preferred that the capsul is regular polygon flat sealed shell, it is each that sonar array is fixed on regular polygon
On the corresponding lateral wall in side.
Preferably, the driving mechanism is motor, and electric machine stand is fixed at the center at the top of capsul inner wall, motor shaft
Vertically arranged and bottom is fixedly connected through capsul with support frame, and through part is tightly connected.
Motor shaft is fixed, motor cabinet rotation, drive capsul rotation, capsul side sonar probe near car body into
Row comprehensive scanning.
Preferably, three-dimensional electronic compass is additionally provided in the capsul.Object azimuth and distance can be close based on being located at
Electronic compass and acoustic transit time in sealing cover is determining, the preferred plastics of capsul material.
Compared with prior art, the utility model has the advantages that：
(1) using the multi-beam side scan sonar of annular permutation, in the way of rotation side scan sonar transmitting-receiving array, in fixation
The entire bottom of pond of position sensing scanning range.
(2) siltation is obtained in the azimuth-range of the mud of bottom of pond by side scan sonar device
(3) it according to the azimuth-range of target mud, is remotely controlled adjustment direction and advances to target mud.
Detailed description of the invention
Overall schematic when Fig. 1 is the operation of the utility model Operation Van.
Fig. 2 is the appearance schematic diagram of sludge detection device.
Fig. 3 is the schematic diagram of internal structure of sludge detection device.
Fig. 4 is scheme of installation of the sludge detection device at the top of Operation Van.
Appended drawing reference as shown in the figure is as follows：
1- sludge detection device 2- dredging vehicle main body 3- support frame
11- capsul 12- sonar array 13- motor
14- power amplifier 15- output circuit
31- lifter 32- gyro-stabilized platform
Specific embodiment
As shown in Figure 1 to 4, a kind of underwater desilting Operation Van, the dirt including dredging vehicle main body 2, dredging vehicle body top
The support frame 3 of mud detection device 1 and installation sludge detection device, dredging vehicle main body itself is conventional subsea dredging operation vehicle, this
Utility model adds sludge detection device 1 in conventional dredging operation roof.
As shown in figure 4, support frame 3 includes lifter 31 and gyro-stabilized platform 32, lifter bottom is fixed on dredging vehicle
The front end at 2 top of main body, gyro-stabilized platform are fixed at the top of lifter, and sludge detection device is mounted on gyro-stabilized platform
On.
The structural schematic diagram of sludge detection device is as shown in Figures 2 and 3, including capsul 11, is mounted on outside capsul
Sonar array 12 and the power amplifier 14 and output circuit 15 being mounted in capsul, sonar array, power amplifier 14
It is sequentially connected electrically with output circuit 15, output circuit exports signal into ground terminal such as computer, and staff can
The position of sludge is judged according to the signal data received, remote control dredging vehicle advances to object.
Capsul uses the flat shell of regular polygon, and the quantity of sonar probe is 1~8 in sonar array, sonar array
Sonar equidistant ring-type of popping one's head in is installed on the vertical side of capsul, that is, is symmetrically fixed on the corresponding lateral wall of polygon
On, the equal access power amplifier of each sonar probe.
Capsul is installed on gyro-stabilized platform by motor 13, is consolidated at electric machine stand and capsul inner wall end face center
Fixed, motor shaft is vertically arranged and bottom end is fixed on gyro-stabilized platform, and motor shaft is close using can be achieved with capsul junction
Capsule is connect with the watertight that motor shaft relatively rotates, and motor shaft is fixed, and motor cabinet rotation drives capsul rotation, realizes that side is swept
The comprehensive scanning of sonar in a certain range.
The detection principle of sludge detection device is as follows：
After mud detection device reaches bottom of pond with dredging operation vehicle, sonar array inspires one group by electroacoustic transducer
Pulsed sound is transferred in water, is reflected when sound wave encounters bottom of pond or barrier, and sonar array is eventually passed back to, and signal passes through
Electroacoustic transducer is changed into electric signal, is transmitted to ground-based computer by amplifier and output circuit.
Object azimuth and distance can be determined based on the electronic compass and acoustic transit time being located in seal closure.
1. object azimuth determines：Polar coordinate system is established on the basis of the positive north, it is (suitable with the angle [alpha] that motor rotates
Hour hands are negative, and are positive counterclockwise) it indicates immediately ahead of dredging operation vehicle to the angle between target.
2. object range determination：
Since there are following relationships by spread speed v of the sound wave under water temperature T, salinity S, depth Z：
V=1449.2+4.6T-0.055T2+0.00029T3+(1.34-0.01T)(S-35)+0.016Z
According to the time Δ t that sound wave returns, dredging operation vehicle and object distance L are calculated
L=v Δ t
Therefore the polar coordinates of object are represented by (L, α), are remotely controlled dredging operation vehicle according to azimuth and are adjusted vehicle
Body direction is advanced then to object, during which passes through the multi-beam side scan sonar measurement confirmation of sludge detection device and object
Distance.
The foregoing is merely the specific implementation cases of the utility model patent, but the technical characteristic of the utility model patent is simultaneously
Not limited to this, in the field of the utility model, made changes or modifications all cover any those skilled in the relevant art
Among the scope of the patents of the utility model.
Claims (7)
1. a kind of dredging operation vehicle with underwater sludge detecting function, including dredging vehicle main body, which is characterized in that further include：
Set on the sludge detection device of the dredging vehicle body top；
For installing the support frame of the sludge detection device；
And the driving mechanism for driving the sludge detection device rotation.
2. dredging operation vehicle according to claim 1, which is characterized in that support frame as described above includes：
Lifter is fixed on dredging vehicle body top；
Gyro-stabilized platform at the top of lifter, the sludge detection device are installed on the gyro-stabilized platform.
3. dredging operation vehicle according to claim 1, which is characterized in that the sludge detection device includes：
Capsul；
The sonar array being installed on the vertical lateral surface of capsul；
And three-dimensional electronic compass, power amplifier and output circuit in capsul；
Sonar array, power amplifier and output circuit are sequentially connected electrically, and the output circuit transmits a signal to ground based terminal
Equipment.
4. dredging operation vehicle according to claim 3, which is characterized in that the arrangement of the sonar array is equidistant ring
Shape is installed on the vertical side of capsul.
5. dredging operation vehicle according to claim 4, which is characterized in that the quantity that sonar is popped one's head in sonar array is 1~8
It is a.
6. dredging operation vehicle according to claim 4, which is characterized in that the capsul is regular polygon flat sealed shell,
Sonar array is fixed on the corresponding lateral wall in each side of regular polygon.
7. dredging operation vehicle according to claim 3, which is characterized in that the driving mechanism is motor, and electric machine stand is fixed
At the center at the top of capsul inner wall, motor shaft is vertically arranged and bottom is fixedly connected through capsul with support frame, runs through
Place is tightly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820365423.7U CN208121858U (en) | 2018-03-16 | 2018-03-16 | A kind of dredging operation vehicle with underwater sludge detecting function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820365423.7U CN208121858U (en) | 2018-03-16 | 2018-03-16 | A kind of dredging operation vehicle with underwater sludge detecting function |
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| Publication Number | Publication Date |
|---|---|
| CN208121858U true CN208121858U (en) | 2018-11-20 |
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ID=64199056
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820365423.7U Active CN208121858U (en) | 2018-03-16 | 2018-03-16 | A kind of dredging operation vehicle with underwater sludge detecting function |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109680790A (en) * | 2018-12-11 | 2019-04-26 | 上海市基础工程集团有限公司 | Dredging Construction method is dredged in the non-cutout of large-scale pipeline |
| CN111549842A (en) * | 2020-05-14 | 2020-08-18 | 长沙矿冶研究院有限责任公司 | Underwater dredging vehicle and method for detecting distance from stirring suction head to bottom thereof |
-
2018
- 2018-03-16 CN CN201820365423.7U patent/CN208121858U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109680790A (en) * | 2018-12-11 | 2019-04-26 | 上海市基础工程集团有限公司 | Dredging Construction method is dredged in the non-cutout of large-scale pipeline |
| CN111549842A (en) * | 2020-05-14 | 2020-08-18 | 长沙矿冶研究院有限责任公司 | Underwater dredging vehicle and method for detecting distance from stirring suction head to bottom thereof |
| CN111549842B (en) * | 2020-05-14 | 2021-04-13 | 长沙矿冶研究院有限责任公司 | Underwater dredging vehicle and method for detecting distance from stirring suction head to bottom thereof |
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