CN211547865U - Detection device for rapidly sweeping shallow for port pool maintenance and dredging - Google Patents
Detection device for rapidly sweeping shallow for port pool maintenance and dredging Download PDFInfo
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- CN211547865U CN211547865U CN201922324428.2U CN201922324428U CN211547865U CN 211547865 U CN211547865 U CN 211547865U CN 201922324428 U CN201922324428 U CN 201922324428U CN 211547865 U CN211547865 U CN 211547865U
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Abstract
The utility model provides a detection device that is used for harbour pond to maintain dredging and sweeps shallow fast, which comprises a ship body, be equipped with GPS positioner and base on the hull, the top of base is connected with flexible arm through first steering mechanism, make flexible arm can be at level and two perpendicular dimension free motions, the upper end of flexible arm is equipped with ultrasonic wave apart from the inductor, its lower extreme is equipped with second steering mechanism and third steering mechanism, be equipped with on the second steering mechanism and refer to the reflecting plate, refer to the reflecting plate through second steering mechanism control and remove and turn to in arbitrary direction, be equipped with camera under water on the third steering mechanism, camera removes and turns to in arbitrary direction under water through third steering mechanism control. The utility model discloses can in time discover fast and dredge shallow point, promote the harbor basin by a wide margin and dredge the efficiency of construction, reduce the engineering time cost.
Description
Technical Field
The utility model belongs to the technical field of shallow is swept in the dredging, especially, relate to a detection device that is used for harbour pond to maintain dredging and sweeps shallow fast.
Background
Along with economic development of China, a shipping engineering wharf and a harbor pond are used as main unit engineering of wharf engineering, harbor pond dredging construction and maintenance are one of main construction costs in the wharf operation process, the harbor pond dredging construction efficiency is the key point of wharf new construction and maintenance construction, the shallow sweeping efficiency of harbor pond dredging construction is improved, and the wharf construction, operation and maintenance cost plays a very important role.
The conventional sweeping method for port and pool dredging construction cannot accurately position dredging shallow points, and usually defines a certain area near the shallow points for carrying out repeated carpet type sweeping, so that the efficiency is low, the effect is not ideal, a large amount of manpower, material resources and construction time are consumed, and the construction cost is increased invisibly.
Therefore, the research and development of a detection device for rapidly sweeping the dredging shallow points in the harbour basin maintenance and dredging, which can rapidly and timely find the dredging shallow points, greatly improve the harbour basin dredging construction efficiency and reduce the construction time cost, is one of the problems to be solved urgently by the technical personnel in the field.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a detection device that is used for harbour pond to maintain dredging and sweeps shallow fast can in time discover fast and dredge shallow point, promotes harbour pond dredging efficiency of construction by a wide margin, reduces the engineering time cost.
The utility model discloses a realize through following technical scheme:
the utility model provides a detection device that is used for harbour pond to maintain dredging and sweeps shallow fast, which comprises a ship body, be equipped with GPS positioner and base on the hull, the top of base is connected with flexible arm through first steering mechanism, make flexible arm can be at level and two perpendicular dimension free motions, the upper end of flexible arm is equipped with ultrasonic wave apart from the inductor, its lower extreme is equipped with second steering mechanism and third steering mechanism, be equipped with on the second steering mechanism and refer to the reflecting plate, move and turn to in arbitrary direction according to the reflecting plate through second steering mechanism control, be equipped with camera under water on the third steering mechanism, camera removes and turns to in arbitrary direction under water through third steering mechanism control.
Compared with the prior art, the beneficial effects of the utility model are that: the reference reflecting plate is driven by the telescopic arm to use the ship body as an original point, annular scanning is carried out in a designated harbor pool dredging area around the ship body, a dredging shallow point can be found quickly, the position of the dredging shallow point is shot in real time by the underwater camera, the telescopic arm is controlled to continue to carry out annular scanning after bypassing the dredging shallow point, and the mud surface elevation of the dredging shallow point is obtained through the distance measurement of the ultrasonic distance sensor and the reference reflecting plate, so that the shallow dredging ship can accurately and timely sweep the dredging shallow point, repeated shallow sweeping is avoided after harbor pool dredging construction, the harbor pool dredging construction efficiency is greatly improved, and the construction time cost is reduced; and the underwater camera is used for shooting the mud surface geology of the dredging shallow point, and constructors can adopt different shallow-sweeping ship machine equipment according to the mud surface geology of the dredging shallow point, so that the shallow-sweeping construction efficiency is further improved.
Further, the first steering mechanism, the second steering mechanism and the third steering mechanism are all universal joints with servo devices.
Furthermore, a control center is further arranged on the ship body and is respectively connected with the GPS positioning device, the ultrasonic distance sensor, the underwater camera and the universal joint with the servo device.
Further, the underwater camera comprises an automatic flushing device. The automatic flushing device can flush the underwater camera to ensure the shooting effect of the underwater camera.
Furthermore, a searchlight is arranged on the underwater camera. The searchlight can be used for lightening the dark area of the place shot by the underwater camera, so that the picture shot by the underwater camera is clearer.
Furthermore, the outer surface of the telescopic arm is provided with an anticorrosive coating. The telescopic arm is prevented from being corroded due to long-term immersion in water during detection.
Drawings
FIG. 1 is a schematic structural diagram of the detection device for harbour basin maintenance, dredging and quick shallow cleaning of the present invention;
FIG. 2 is a schematic structural view of the lower end of the telescopic arm in the detection device for harbour basin maintenance, dredging and quick shallow cleaning of the present invention;
FIG. 3 is a schematic diagram of the ultrasonic distance sensor and the relevant point of the reference reflection plate in the detection device for the harbor basin maintenance dredging fast shallow cleaning of the present invention;
fig. 4 is a schematic diagram of the relevant points of the ultrasonic distance sensor, the reference reflection plate and the reference control point in the detection device for the harbor basin maintenance dredging fast shallow scanning of the present invention.
In the figure, 1-ship hull, 11-GPS positioning device, 12-base, 13-control center, 2-ultrasonic distance sensor, 3-telescopic arm, 4-second steering mechanism, 5-third steering mechanism, 6-reference reflector, 7-underwater camera and 8-searchlight.
Detailed Description
The present invention will be further explained with reference to the drawings and examples.
Referring to fig. 1 and 2, fig. 1 is a schematic structural view of the detecting device for rapidly sweeping a shallow surface in harbour basin maintenance and dredging of the present invention, and fig. 2 is a schematic structural view of the lower end of the telescopic arm in the detecting device for rapidly sweeping a shallow surface in harbour basin maintenance and dredging of the present invention. The utility model provides a detection device that is used for harbour pond to maintain dredging and sweeps shallow fast, including hull 1, be equipped with GPS positioner 11 and base 12 on the hull 1, the top of base 12 is connected with flexible arm 3 through first steering mechanism (not shown in the picture), first steering mechanism makes flexible arm 3 can be at level and two perpendicular dimension free motions, the upper end of flexible arm 3 is equipped with ultrasonic distance inductor 2, its lower extreme is equipped with second steering mechanism 4 and third steering mechanism 5, be equipped with on the second steering mechanism 4 and refer to reflecting plate 6, move and turn to in arbitrary direction according to reflecting plate 6 through the control of second steering mechanism 4, be equipped with camera 7 under water on the third steering mechanism 5, it moves and turns to in arbitrary direction to control camera 7 under water through third steering mechanism 5. The GPS positioning device 11 is used to perform coordinate positioning on the ship body 1, determine the current operating geographic position of the ship body 1, and mark the operating area, thereby avoiding repeated subsequent detection operations on the same area, and if a shallow dredging point is found in the detection area, the correct location of the shallow dredging point can be quickly found during subsequent shallow dredging operations. The telescopic arm 3 is used for extending the reference reflecting plate 6 into the underwater set depth, before dredging shallow point detection, the positions of the reference reflecting plate 6 and the underwater camera 7 are adjusted through the second steering mechanism 4 and the third steering mechanism 5 respectively, so that the ultrasonic distance sensor 2 can detect the reference reflecting plate 6, then the telescopic arm 3 is driven by the first steering mechanism to move in the horizontal direction, and the reference reflecting plate 6 is driven to set the depth underwater for annular detection. In one embodiment, the first steering mechanism, the second steering mechanism 4 and the third steering mechanism 5 are all universal joints with servo devices. For convenience of description, the first steering mechanism is a first servo-equipped universal joint, the second steering mechanism 4 is a second servo-equipped universal joint, and the third steering mechanism 5 is a third servo-equipped universal joint. In one embodiment, the outer surface of the telescopic arm 3 is provided with an anti-corrosion layer. The telescopic arm 3 is prevented from being corroded by being immersed in water for a long time during detection.
In one embodiment, the ship body 1 is further provided with a control center 13, and the control center 13 is respectively connected with the GPS positioning device 11, the ultrasonic distance sensor 2, the underwater camera 7 and a universal joint with a servo device. The control center 13 can be connected with the GPS positioning device 11, the ultrasonic distance sensor 2, the underwater camera 7 and the universal joint with the servo device through wired connection or wireless connection, and preferably, the control center 13 is connected with the GPS positioning device 11, the ultrasonic distance sensor 2, the underwater camera 7 and the universal joint with the servo device through wireless communication. The control center 13 can control the telescopic arm 3 to freely move in two dimensions of horizontal and vertical directions by controlling the direction of the universal joint with the servo device, and control the moving and rotating directions of the reference reflecting plate 6, so as to ensure that the ultrasonic distance sensor 2 can detect the reference reflecting plate 6, control the moving and rotating directions of the underwater camera 7, shoot the position of a dredging shallow point in real time, and shoot the geological state of the mud surface of the dredging shallow point. Under normal conditions, unless a dredging vessel skips, generally, the position geology of a dredging shallow point cannot be normally dredged by using the dredging equipment of the dredging vessel due to the existence of the dredging shallow point, so after the dredging shallow point is found, the mud surface geology state of the dredging shallow point is shot by the underwater camera 7, the actual situation of the mud surface geology of the dredging shallow point can be directly shown to an operator in an image form in real time, and different shallow dredging vessel equipment can be adopted for the mud surface geology of the dredging shallow point when the subsequent shallow dredging operation is carried out on the dredging shallow point. If the dredging shallow point has the rock block, the normal drag suction ship and the cutter suction ship can not achieve the dredging purpose, and a dredger is adopted; if there is a reef, the reef needs to be exploded and then dredged, and the construction efficiency of shallow water sweeping can be accelerated by using proper shallow water sweeping ship machine equipment. In one embodiment, the underwater camera 7 comprises an automatic flushing device (not shown). Automatic washing unit can wash camera 7 under water to guarantee camera 7's shooting effect under water. In one embodiment, the underwater camera 7 is provided with a searchlight 8. The searchlight 8 can be used for illuminating the place shot by the underwater camera 7, so that the picture shot by the underwater camera 7 is clearer.
The utility model is used for the detection device's that shallow is swept fast in harbour basin maintenance dredging working process:
after the ship body 1 is driven to the region of the dredging shallow point to be detected after the harbour dredging construction, the control center 13 carries out coordinate positioning on the ship body 1 through the GPS positioning device 11, and the coordinate of the position where the ship body 1 is located is determined. Then drive flexible arm 3 through the universal joint of taking servo unit and remove in the vertical direction for form an contained angle alpha between flexible arm 3 and the vertical direction, adjust the direction of referring to reflecting plate 6 and the direction of camera 7 under water through the universal joint of taking servo unit of second, make ultrasonic wave apart from inductor 2 can detect referring to reflecting plate 6. The telescopic arm 3 is controlled to extend to a set depth under water, then the telescopic arm 3 is controlled to move in the horizontal direction through a first universal joint with a servo device by taking the top end of the base 12 as an original point, and therefore the periphery of the ship body 1 is circularly scanned and measured by referring to the reflecting plate 6. Preferably, before the telescopic arm 3 is controlled to move in the horizontal direction, the telescopic arm 3 can be driven to move in the horizontal direction to a vertical surface where a connecting line between the ultrasonic distance sensor 2 and the reference control point K is located, and the vertical surface where the connecting line between the ultrasonic distance sensor 2 and the reference control point K is located is used as a starting point to detect in the clockwise or counterclockwise direction, so that subsequent calculation can be facilitated.
Referring to fig. 3, fig. 3 is a schematic diagram of the ultrasonic distance sensor and the related point of the reference reflection plate in the detection apparatus for harbour basin maintenance and dredging fast shallow water sweeping according to the present invention. In the detection process, if the reference reflection plate 6 is obstructed, the telescopic arm 3 cannot move continuously in the horizontal direction, that is, the situation that a shallow dredging point occurs in the position is shown, the underwater camera 7 is started, the position of the shallow dredging point is shot in real time, the actual situation of the mud surface geology of the shallow dredging point is shown to an operator in the form of an image, the operator can control the telescopic arm 3 to contract according to the picture shot by the underwater camera 7 so as to bypass the shallow dredging point, the telescopic arm 3 is continuously extended to the underwater set depth after the shallow dredging point is bypassed, the telescopic arm 3 is continuously controlled to move in the horizontal direction by the universal joint with the servo device, and the reference reflection plate 6 is used for continuously carrying out annular scanning on the periphery of the ship body 1 until the detection is finished. In the process of controlling the telescopic arm 3 to bypass the dredging shallow point, the reference reflection plate 6 is marked as B, the position of the ultrasonic distance sensor 2 is marked as A, and the elevation of B, namely the elevation of the dredging shallow point, can be calculated through a trigonometric function. As shown in FIG. 3, BElevation (L)＝AElevation (L)-H，H＝L*cosα，BElevation (L)Denotes the elevation of B, AElevation (L)the elevation of a is shown, the position of a is known, i.e., the elevation of a is known, H is the distance between a and C, L is the distance between the ultrasonic distance sensor 2 and the reference reflecting plate 6, and α is also known, so that the elevation of B can be calculated.
Referring to fig. 4, fig. 4 is a schematic diagram of the related points of the ultrasonic distance sensor, the reference reflection plate and the reference control point in the detection apparatus for rapid shallow cleaning in harbor basin maintenance and dredging according to the present invention. Then, the distance between the ultrasonic distance sensor 2 and the reference control point K is obtained, and the angle β of the telescopic arm 3 moving in the horizontal direction, that is, the included angle between the connection line of the ultrasonic distance sensor 2 and the reference control point and the connection line of the ultrasonic distance sensor 2 and the reference reflection plate 6 is obtained. Knowing the distance between the ultrasonic distance sensor 2 and the reference control point K, the angle beta and the distance between the ultrasonic distance sensor 2 and the reference reflecting plate 6, namely knowing the lengths of two sides of the triangle ABK and the included angle between the two sides, calculating the position of a point B through a trigonometric function, and then calculating through coordinate conversion to obtain the coordinate of the point B, namely the coordinate of the shallow dredging point.
The angle between the telescopic arm 3 and the vertical direction is continuously adjusted, the telescopic arm 3 is controlled to extend to the underwater set depth, and the telescopic arm 3 is controlled to move in the horizontal direction, so that the reference reflection plate 6 is driven to rapidly detect the peripheral area of the ship body 1, the process is repeated to obtain the coordinates of each dredging shallow point of the area of the dredging shallow point to be detected, an underwater mud surface elevation map is compiled according to the coordinates of the dredging shallow points obtained by measurement, and different shallow-sweeping ship machine equipment is timely adopted to sweep the dredging shallow points according to the underwater mud surface elevation map and the mud surface geological conditions of the dredging shallow points, so that shallow-sweeping construction is completed.
Compared with the prior art, the beneficial effects of the utility model are that: the reference reflection plate 6 is driven by the telescopic arm 3 to use the ship body 1 as an original point, annular scanning is carried out in a designated harbor pool dredging area around the ship body 1, a dredging shallow point can be found quickly, then the position of the dredging shallow point is shot in real time through the underwater camera 7, the telescopic arm 3 is controlled to continue to carry out annular scanning after bypassing the dredging shallow point, and the mud surface elevation of the dredging shallow point is obtained through distance measurement and calculation of the ultrasonic distance sensor 2 and the reference reflection plate 6, so that the shallow dredging ship can accurately and timely sweep the dredging shallow point, repeated shallow sweeping is avoided after harbor pool dredging construction, the harbor pool dredging construction efficiency is greatly improved, and the construction time cost is reduced; and the underwater camera 7 is used for shooting the mud surface geology of the dredging shallow point, and constructors can adopt different shallow-sweeping ship machine equipment according to the mud surface geology of the dredging shallow point, so that the shallow-sweeping construction efficiency is further improved.
The present invention is not limited to the above embodiment, and if various modifications or variations of the present invention do not depart from the spirit and scope of the present invention, they are intended to be covered if they fall within the scope of the claims and the equivalent technology of the present invention.
Claims (6)
1. The utility model provides a detection device that is used for harbour pond to maintain dredging and sweeps shallow fast, a serial communication port, includes the hull, be equipped with GPS positioner and base on the hull, the top of base is connected with flexible arm through first steering mechanism, makes flexible arm can be at two dimension free motions of level and perpendicular, the upper end of flexible arm is equipped with ultrasonic distance inductor, and its lower extreme is equipped with second steering mechanism and third steering mechanism, be equipped with on the second steering mechanism and refer to the reflecting plate, through second steering mechanism control refers to the reflecting plate and removes and turn to in arbitrary direction, be equipped with camera under water on the third steering mechanism, through camera under water in arbitrary direction removal and turn to are controlled to the third steering mechanism.
2. The probe apparatus for harbour maintenance dredging fast-speed shallow-scanning according to claim 1, wherein the first steering mechanism, the second steering mechanism and the third steering mechanism are all gimbals with servo-devices.
3. The detection device for harbor basin maintenance dredging quick shallow scanning according to claim 2, characterized in that the hull is further provided with a control center, and the control center is respectively connected with a GPS positioning device, an ultrasonic distance sensor, an underwater camera and a universal joint with a servo device.
4. The probe for harbour maintenance dredging fast shallow according to claim 1, wherein the underwater camera comprises an automatic flushing device.
5. The probe apparatus for harbour basin maintenance dredging fast shallow scanning according to claim 1, wherein a searchlight is provided on the underwater camera.
6. The probe for harbour maintenance dredging fast shallow according to claim 1, wherein the outer surface of the telescopic arm is provided with an anti-corrosion layer.
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| CN201922324428.2U CN211547865U (en) | 2019-12-20 | 2019-12-20 | Detection device for rapidly sweeping shallow for port pool maintenance and dredging |
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| CN201922324428.2U CN211547865U (en) | 2019-12-20 | 2019-12-20 | Detection device for rapidly sweeping shallow for port pool maintenance and dredging |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113323060A (en) * | 2021-06-09 | 2021-08-31 | 中国水利水电第一工程局有限公司 | Floating dock type dredging platform and dredging method for narrow space |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113323060A (en) * | 2021-06-09 | 2021-08-31 | 中国水利水电第一工程局有限公司 | Floating dock type dredging platform and dredging method for narrow space |
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