CN212605685U - Underwater landform measuring device based on miniature autonomous vehicle - Google Patents
Underwater landform measuring device based on miniature autonomous vehicle Download PDFInfo
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- CN212605685U CN212605685U CN202021462943.3U CN202021462943U CN212605685U CN 212605685 U CN212605685 U CN 212605685U CN 202021462943 U CN202021462943 U CN 202021462943U CN 212605685 U CN212605685 U CN 212605685U
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Abstract
The utility model discloses an underwater landform measuring device based on a miniature autonomous vehicle, which comprises an unmanned ship and a transducer array of a multi-beam depth finder, this transducer array passes through the depth measurement frame and installs in unmanned ship board side, the depth measurement frame is including the hoist and mount pole, the hoist and mount pole lower extreme is equipped with the ring flange that is used for installing the multi-beam depth finder, the hoist and mount pole upper end is equipped with the swinging boom, swinging boom one end is connected with hoist and mount pole upper end is perpendicular, two annular convex shoulders around having on the swinging boom, the swinging boom other end is equipped with the extension arm, the coaxial setting of swinging boom, cup jointed the mounting panel that is the vertical relation with the extension arm on the extension arm, the mounting panel is fixed in on the ship board inside wall, length between two annular convex shoulders on the swinging boom and the up end width adaptation of ship board, the up end card of ship board is gone into in the clearance groove between two annular convex shoulders, extension. The utility model has the advantages of stable in structure, unrestrained ability reinforce of anti-wind, measurement accuracy height.
Description
Technical Field
The utility model belongs to the technical field of topography and geomorphic measurement equipment technique and specifically relates to an underwater geomorphic measurement device based on miniature autonomous navigation ware.
Background
The existing working principle of underwater topography and geomorphology measurement is that an underwater extension set transmits high-frequency sound wave signals into water, the sound waves are reflected when meeting a platform seabed foundation, the reflected signals are received by the underwater extension set, are subjected to conditioning operations such as filtering and amplification and then are uploaded to an overwater extension set through a cable for processing, and 255 depth measurement values are obtained; the multi-channel transmitting transducer array is designed according to the basic principle of multi-beam acoustic detection, wide coverage of detection ultrasonic waves can be achieved by the multi-channel transmitting transducer array, high-resolution reception of seabed scattered echo signals is guaranteed by the multi-channel receiving transducer array, and therefore high-precision and high-efficiency measurement of seabed foundations of ocean platforms is achieved effectively.
The multi-beam echo sounder is a device for measuring and drawing submarine topography and water depth by using multi-beam echo signals. The multi-beam echosounder can be divided into a ship bottom fixed installation mode and a ship side portable installation mode according to the installation mode of the transducer array, wherein the ship bottom fixed installation mode can keep the array permanently stable, and the ship side portable installation mode needs to guarantee that the installation mode has higher efficiency, precision and stability every time.
A portable multi-beam depth sounder comprises an overwater control processing extension set and an underwater receiving and transmitting combined energy-replacing device array. Wherein the transducer array typically needs to be mounted on the side of the ship. For example, the Chinese patent authorization publication number is: CN 103910050B's "installation of putting is put to multi-beam depth finder base battle array topside lift", it is including being fixed in the base on the ship board, still including fixing the fixture block on the hull and fixing the depth finding frame between base and fixture block, the depth finding frame includes last lifting rod and the lower lifting rod of cover on last lifting rod, it is provided with the locating hole to go up the lifting rod lower extreme, the upper portion of lower lifting rod is provided with one row of regulation hole along the axial, link to each other through the locating pin between locating hole and one of them regulation hole, the lower extreme of lower lifting rod is provided with the ring flange that is used for installing the multi-beam depth finder, lower lifting rod is fixed on the fixture block, be provided with the swinging boom on the last lifting. The design technical scheme of the hoisting rod with the adjustable length is adopted, and for measuring ships with different models and different drafts, the same multi-beam depth sounder array topside hoisting and installing device can be installed on various measuring ships by adjusting the length of the hoisting rod. However, since the depth measuring frame is fixed on the ship board through the base, as seen from the figure, the base is fixed on the upper end surface of the ship board, when the sea condition is poor or the wind wave is large, the base may be loosened due to the fluctuation of the wind wave during high-speed navigation, so that the installation stability is reduced, and the measurement accuracy is further affected.
SUMMERY OF THE UTILITY MODEL
In order to overcome the not enough of prior art, the utility model provides a stable geomorphology measuring device under water based on miniature autonomous navigation ware of mounting structure.
In order to realize the purpose, the utility model discloses a technical scheme is: the utility model provides an underground landform measuring device based on miniature autonomous navigation ware, includes unmanned ship, multi-beam depth finder's transducer array, and this transducer array passes through the depth finder and erects in unmanned ship board side, and the depth finder includes the lifting rod, and the lifting rod lower extreme is equipped with the ring flange that is used for installing multi-beam depth finder, and the lifting rod upper end is equipped with the swinging boom, and swinging boom one end is connected with the lifting rod upper end is perpendicular, has two annular convex shoulders around having on the swinging boom, its characterized in that: the swinging boom other end is equipped with the extension arm, and this extension arm and the coaxial setting of swinging boom have cup jointed the mounting panel that is the vertical relation with this extension arm on this extension arm, and mounting panel fixed mounting is on the ship board inside wall, length between two annular convex shoulders on the swinging boom and the up end width adaptation of ship board, during the up end card of ship board goes into the clearance groove between two annular convex shoulders, the extension arm free side has the enlarged foot edge that prevents the mounting panel and deviate from.
Furthermore, an L-shaped connecting block is welded on the horizontal wall of the inner side of the ship board end face, the vertical part of the L-shaped connecting block is transversely and fixedly installed on the horizontal wall of the inner side of the ship board end face, and the horizontal part of the L-shaped connecting block is connected with the mounting plate through a fastening piece.
Furthermore, the horizontal part of the L-shaped connecting block is provided with an inner side vertical wall which partially protrudes out of the end surface of the ship board, an open slot for the local embedding is formed in one side of the mounting plate facing the local part, a through hole is formed in the open slot, a positioning bolt is matched in the through hole, and the positioning bolt is screwed in from one side of the mounting plate, sequentially penetrates through the mounting plate and the horizontal part of the L-shaped connecting block and then is locked through a nut.
Furthermore, the positioning bolt comprises a bolt cap and a rod body, the rod body comprises a smooth section and a threaded section, the smooth section is matched with the through hole in the mounting plate, and the threaded section is matched with the horizontal part of the L-shaped connecting block.
Furthermore, the smooth section is provided with longitudinal convex ribs which extend longitudinally and are distributed at intervals.
By adopting the scheme, the upper end of the hoisting rod is provided with the rotating arm which is provided with an axial extension arm, and the extension arm is used for being sleeved and matched with the mounting plate and fixedly mounted on the inner side of the ship board, so that the rotating arm can only rotate circumferentially and cannot move up and down; the front and rear annular convex shoulders of the rotating arm are clamped on two sides of the upper end surface of the ship board, so that the rotating arm cannot move back and forth due to the axial limiting fit, and a more stable mounting structure is formed; in addition, the mounting plate and the L-shaped connecting block are partially matched in an embedded mode, and a further positioning effect is achieved.
The present invention will be further described with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a partial structure view of a ship body and a side board according to an embodiment of the present invention;
fig. 3 is a partial structural structure diagram of the depth measuring frame according to the embodiment of the present invention;
FIG. 4 is an enlarged view of a portion A of the embodiment of the present invention;
the unmanned ship comprises an unmanned ship 1, a multi-beam depth sounder 2, a depth sounding frame 3, a flange plate 31, a hoisting rod 32, a rotating arm 33, an annular shoulder 331, a clearance groove 332, an extension arm 333, an expansion end edge 334, a mounting plate 4, an upper end surface 11 of a ship board, a lower end surface 12 of the ship board, an inner side surface 13 of the ship board, an inner side surface 14 of a ship body, a groove 15, an L-shaped connecting block 5, a vertical part 51, a horizontal part 52, a local part 521, an open slot, a head 521a, a shoulder 521b, a positioning bolt 6, a nut 7, a bolt cap 61, a rod body 62, a smooth section 621, a longitudinal convex rib 622 and.
Detailed Description
The utility model discloses a concrete embodiment is shown in fig. 1-4 and is based on miniature autonomous vehicle's underwater geomorphy measuring device, can comprise unmanned ship 1, reference station, main controlgear and remote control, transducer array and signal processor equipment, and the transducer array of multi-beam depth sounder 2 is installed in unmanned ship 1's ship side through sounding frame 3. The utility model discloses mainly improve the design to the stable mounting structure of multi-beam echosounder 2. Specifically, the depth sounding frame 3 includes a hoisting rod 32, a flange 31 for mounting the multi-beam depth sounder 2 is disposed at the lower end of the hoisting rod 32, a rotating arm 33 is disposed at the upper end of the hoisting rod 32, one end of the rotating arm 33 is vertically connected to the upper end of the hoisting rod 32, a front annular shoulder 331 and a rear annular shoulder 331 (the left side is front and the right side is rear as shown in fig. 1) are disposed on the rotating arm 33, an extending arm 333 is disposed at the other end (i.e., the front end) of the rotating arm 33, the extending arm 333 is coaxially disposed with the rotating arm 33, a mounting plate 4 which is perpendicular to the extending arm 333 is sleeved on the extending arm 333, the mounting plate 4 has a vertical limiting function (vertical direction in fig. 1) on the rotating arm 33, the mounting plate 4 is fixedly mounted on the inner side of the ship board (the inner side is relative to the outer side of the ship body, and may also be regarded as the inner side, the upper end face 11 of the ship board is caught in the clearance groove 332 between the two annular shoulders 331 so that the rotation arm 33 is restrained in the fore-and-aft direction. To prevent the mounting plate 4 from being removed from the extension arm 333, an enlarged end edge 334 may be provided on the free side of the extension arm 333, and the enlarged end edge 334 may be screwed on by a screw, may be fixed by welding, etc.
The upper end surface 11 of the ship board is matched with a clearance groove 332 between two annular shoulders 331 of the extension arm 333, a groove 15 which is approximately 7-shaped is reserved between the lower end surface 12 of the ship board and the inner side surface 14 of the ship body, and an L-shaped connecting block 5 is arranged in the groove 15. The vertical portion 51 of the L-shaped connecting block 5 is transversely fixed to the inner horizontal wall of the side end surface (i.e., the lower end surface 12 of the side), and the horizontal portion 52 of the L-shaped connecting block 5 is connected to the mounting plate 4 by a fastening bolt and a nut 7. The horizontal portion 52 of the L-shaped connecting block 5 has a part 521 protruding out of the inner vertical wall of the side end surface (i.e. the inner side end surface 13 of the side), and the side of the mounting plate 4 facing the part 521 is provided with an opening slot into which the part 521 can be inserted, and further, the part 521 is of a convex structure, the head 521a is inserted into the opening slot, and the shoulder 521b has a limiting effect on the opening slot of the mounting plate 4. The opening groove is provided with a through hole, a positioning bolt 6 (i.e. the above-mentioned fastener or fastening bolt) is matched in the through hole, and the positioning bolt 6 is screwed in from one side of the mounting plate 4, sequentially passes through the mounting plate 4 and the horizontal part 52 of the L-shaped connecting block 5, and is locked by a nut 7.
Further, the positioning bolt 6 comprises a bolt cap 61 and a rod body 62, the rod body 62 comprises a smooth section 621 and a threaded section 623, the smooth section 621 is matched with the through hole on the mounting plate 4, and the threaded section 623 is matched with the horizontal part 52 of the L-shaped connecting block 5. The smooth section 621 is provided with longitudinal ribs 622 extending longitudinally and distributed at intervals, and the longitudinal ribs 622 are embedded into the through holes of the mounting plate 4 to increase the friction force between the longitudinal ribs 622 and the mounting plate, so as to prevent looseness.
The utility model discloses do not confine the above-mentioned embodiment to, the general technical personnel in this field can adopt other multiple embodiments to implement according to the utility model discloses a, perhaps all adopt the utility model discloses a design structure and thinking do simple change or change, all fall into the utility model discloses a protection scope.
Claims (5)
1. The utility model provides an underground landform measuring device based on miniature autonomous navigation ware, includes unmanned ship, multi-beam depth finder's transducer array, and this transducer array passes through the depth finder and erects in unmanned ship board side, and the depth finder includes the lifting rod, and the lifting rod lower extreme is equipped with the ring flange that is used for installing multi-beam depth finder, and the lifting rod upper end is equipped with the swinging boom, and swinging boom one end is connected with the lifting rod upper end is perpendicular, has two annular convex shoulders around having on the swinging boom, its characterized in that: the swinging boom other end is equipped with the extension arm, and this extension arm and the coaxial setting of swinging boom have cup jointed the mounting panel that is the vertical relation with this extension arm on this extension arm, and mounting panel fixed mounting is on the ship board inside wall, length between two annular convex shoulders on the swinging boom and the up end width adaptation of ship board, during the up end card of ship board goes into the clearance groove between two annular convex shoulders, the extension arm free side has the enlarged foot edge that prevents the mounting panel and deviate from.
2. The underwater geomorphology measuring device based on a miniature autonomous aircraft according to claim 1, characterized in that: the horizontal wall of the L-shaped connecting block is transversely and fixedly arranged on the horizontal wall of the inner side of the ship board end face, and the horizontal part of the L-shaped connecting block is connected with the mounting plate through a fastener.
3. The underwater geomorphology measuring device based on a miniature autonomous aircraft according to claim 2, characterized in that: the horizontal part of the L-shaped connecting block is provided with an inner side vertical wall which partially protrudes out of the end surface of the ship board, an open slot for the local embedding is formed in one side of the mounting plate facing the local part, a through hole is formed in the open slot, a positioning bolt is matched in the through hole, and the positioning bolt is screwed in from one side of the mounting plate and sequentially penetrates through the mounting plate and the horizontal part of the L-shaped connecting block and then is locked through a nut.
4. The underwater geomorphology measuring device based on a miniature autonomous aircraft according to claim 3, characterized in that: the positioning bolt comprises a bolt cap and a rod body, the rod body comprises a smooth section and a threaded section, the smooth section is matched with a through hole in the mounting plate, and the threaded section is matched with the horizontal part of the L-shaped connecting block.
5. The underwater geomorphology measuring device based on a miniature autonomous aircraft according to claim 4, characterized in that: and the smooth section is provided with longitudinal convex ribs which extend longitudinally and are distributed at intervals.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021462943.3U CN212605685U (en) | 2020-07-21 | 2020-07-21 | Underwater landform measuring device based on miniature autonomous vehicle |
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| CN202021462943.3U CN212605685U (en) | 2020-07-21 | 2020-07-21 | Underwater landform measuring device based on miniature autonomous vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114852276A (en) * | 2022-04-29 | 2022-08-05 | 中山大学 | Method and device for collecting and unfolding scientific investigation instrument of marine scientific investigation ship and scientific investigation ship |
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2020
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114852276A (en) * | 2022-04-29 | 2022-08-05 | 中山大学 | Method and device for collecting and unfolding scientific investigation instrument of marine scientific investigation ship and scientific investigation ship |
| CN114852276B (en) * | 2022-04-29 | 2023-10-17 | 中山大学 | Method and device for retracting scientific investigation instrument of ocean scientific investigation ship and scientific investigation ship |
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