CN215794338U - Unmanned ship for wharf detection - Google Patents
Unmanned ship for wharf detection Download PDFInfo
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- CN215794338U CN215794338U CN202121401284.7U CN202121401284U CN215794338U CN 215794338 U CN215794338 U CN 215794338U CN 202121401284 U CN202121401284 U CN 202121401284U CN 215794338 U CN215794338 U CN 215794338U
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Abstract
The invention discloses an unmanned ship for wharf detection, which relates to the field of wharf disease detection and comprises a ship body platform arranged above two double-air-bag buoys; the bottom of the hull platform is provided with a steering propeller and a power propeller; an unmanned ship control box is arranged on the ship body platform and connected with the power propeller and the steering propeller; a sounding transducer probe is fixed below the middle part of the ship platform; the front end and the rear end of the ship body platform are respectively provided with a GPS positioner; an equipment frame is also erected above the ship platform, an LED searchlight is arranged in the middle of the side surface of the equipment frame, and laser pointers are arranged at the front end and the rear end of the side surface of the equipment frame; the top of the center of the equipment rack is also provided with a high-definition camera through a stabilizing cradle head; and a depth finder equipment box is also arranged above the hull platform and is connected with the GPS positioner and the depth measuring transducer probe. The invention greatly improves the detection efficiency of wharf diseases and reduces the detection cost.
Description
Technical Field
The invention relates to the field of wharf disease detection, in particular to an unmanned ship for wharf detection.
Background
Traditional pier outward appearance detects, need hire the fishing boat, adopts the manual work to carry photographic camera equipment, takes the fishing boat and carries out the video recording or the inspection of shooing with fixed distance along the pier according to the regulation, and after the discovery problem, need be close to the pier, uses measuring equipment such as steel ruler, measures the disease size. However, manual measurement has many problems:
1. along with the strict implementation of the fishing period prohibition law, the appearance detection of a rented fishing boat near a harbor area is more and more difficult, and the cost is higher and higher; 2. the quality of fishing boat drivers is different, the safety awareness is low, and the safety risk of offshore operation is high; 3. as the wharf structure forms of hundreds of meters are basically similar, the shooting position is difficult to be accurately determined by manually recording and shooting videos; 4. the shaking of the fishing boat can be transmitted to the camera equipment, the photographed picture shakes and shakes, the later-stage manual video viewing can cause dizziness, and the difficulty coefficient of the editing report is higher; 5. the inspection operation can not be performed close to a shallow water area under the influence of the draft of the fishing boat, the length of the boat body, power factors and the like.
Disclosure of Invention
The invention aims to provide an unmanned ship for wharf detection, so as to rapidly realize detection of wharf disease size, position and state and solve the problems of analysis linkage of a disease area and a water depth state and the like.
In order to achieve the purpose, the invention adopts the following technical scheme:
an unmanned ship for wharf detection comprises two parallel double-air-bag buoys, wherein each double-air-bag buoy is formed by splicing and fixing two air-bag buoys;
a ship body platform is detachably fixed above the two double-airbag buoys; the bottom of the front end of the ship body platform is connected with a steering propeller, the bottom of the rear end of the ship body platform is connected with a power propeller, the thrust direction of the steering propeller is vertical to the front-back direction, and the thrust direction of the power propeller is parallel to the front-back direction;
an unmanned ship control box is arranged on the ship body platform and is connected with the power propeller and the steering propeller through control lines; a communication system and a propeller battery are also arranged in the unmanned ship control box;
a sounding transducer probe is fixed below the middle part of the ship platform; the front end and the rear end of the ship body platform are respectively provided with a GPS (global positioning system) positioner, namely a bow GPS positioner positioned at the front end and a stern GPS positioner positioned at the rear end;
an equipment frame is also erected above the ship platform, an LED searchlight is arranged in the middle of the side surface of the equipment frame, laser pointers are arranged at the front end and the rear end of the side surface of the equipment frame, and the illumination directions of the LED searchlight and the laser pointers are the same side surface direction vertical to the front-rear direction; the top of the center of the equipment rack is also provided with a high-definition camera through a stabilizing cradle head;
and a depth finder equipment box is also arranged above the hull platform and is connected with the GPS positioner and the depth measuring transducer probe.
The unmanned ship control box is positioned between the equipment frame and the bow GPS positioner, and the depth finder equipment box is positioned between the equipment frame and the stern GPS positioner.
The GPS localizer is a differential GPS localizer.
The ship body platform is also provided with a gyroscope, and the gyroscope is connected to the depth sounder equipment box.
The depth measuring transducer probe, the bow GPS positioner and the stern GPS positioner are all positioned on the same vertical plane, and the depth measuring transducer probe is positioned in the middle of the bow GPS positioner and the stern GPS positioner in the horizontal direction.
Compared with the prior art, the wharf detection device has the advantages that the detection working efficiency can be greatly improved, the production cost is reduced, the safety and reliability of wharf detection are improved, and the wharf detection device is energy-saving and environment-friendly. The ship body is small, the passing or the berthing of the ship in the peripheral area is not influenced, the ship can independently navigate at the front edge of the wharf and quickly draw a detection result, and the ship has the functions of remotely monitoring diseases by experts and the like, and is very convenient and practical.
Drawings
Fig. 1 is a side view of the unmanned ship of the present invention.
In the figure, the device comprises a buoy with double air bags 1, a buoy with double air bags 2, a ship body platform 3, an equipment frame 4, a power propeller 5, a steering propeller 6, an unmanned ship control box 7, a depth finder equipment box 8, a GPS positioner at the stern 9, a GPS positioner at the bow 10, an LED searchlight 11, a laser pointer 12, a high-definition camera 13, a stabilizing tripod head 14 and a depth measuring transducer probe.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1, the unmanned ship for wharf detection of the invention comprises two parallel double-air-bag buoys 1, wherein each double-air-bag buoy 1 is formed by splicing and fixing two air-bag buoys;
a ship body platform 2 is detachably fixed above the two double-airbag buoys 1; the bottom of the front end of the ship body platform 2 is connected with a steering propeller 5, the bottom of the rear end of the ship body platform 2 is connected with a power propeller 4, the thrust direction of the steering propeller 5 is vertical to the front-back direction, and the thrust direction of the power propeller 4 is parallel to the front-back direction;
an unmanned ship control box 6 is arranged on the ship body platform 2, and the unmanned ship control box 6 is connected with the power propeller 4 and the steering propeller 5 through control lines; a communication system and a propeller battery are also arranged in the unmanned ship control box 6;
a sounding transducer probe 14 is fixed below the middle part of the hull platform 2; the front end and the rear end of the ship body platform 2 are respectively provided with a GPS (global positioning system) positioner, namely a bow GPS positioner 9 positioned at the front end and a stern GPS positioner 8 positioned at the rear end;
an equipment frame 3 is further erected above the ship body platform 2, an LED searchlight 10 is arranged in the middle of the side face of the equipment frame 3, laser pointers 11 are arranged at the front end and the rear end of the side face of the equipment frame 3, and the illumination directions of the LED searchlight 10 and the laser pointers 11 are the same side face direction perpendicular to the front-rear direction; the top of the center of the equipment rack 3 is also provided with a high-definition camera 12 through a stabilizing cradle head 13;
a depth finder equipment box 7 is further arranged above the ship platform 2, and the depth finder equipment box 7 is connected to the GPS positioner and the depth measuring transducer probe 14.
The unmanned ship control box 6 is positioned between the equipment frame 3 and the bow GPS locator 9, and the depth finder equipment box 7 is positioned between the equipment frame 3 and the stern GPS locator 8.
The GPS localizer is a differential GPS localizer.
The ship body platform 2 is also provided with a gyroscope which is connected with a depth finder equipment box 7.
The depth measuring transducer probe 14, the bow GPS locator 9 and the stern GPS locator 8 are all positioned on the same vertical plane, and the depth measuring transducer probe 14 is positioned in the middle of the bow GPS locator 9 and the stern GPS locator 8 in the horizontal direction.
The catamaran, namely the double-air-bag buoy 1, mainly adopts a structure with 4 air chambers, and can not sink even if a single air is deflated. The propeller is fixed on the ship body and can provide the functions of advancing, retreating and left-right moving for the catamaran. The unmanned ship control box 6 contains control, communication, power supply and the like, and realizes the remote control of the unmanned ship. Wherein, the power propeller 4 can control the advancing and retreating of the unmanned ship, and the steering propeller 5 can control the advancing or retreating direction of the unmanned ship.
The GPS positioners at the bow and the stern adopt a differential RTK GPS, can provide accurate plane positioning and elevation better than 1 cm for the ship body, calculate the real-time navigation position of the unmanned ship through plane positioning coordinates, and can master the distance between the unmanned ship and the side wall of the wharf in real time, thereby being capable of back-calculating the course angle in real time and controlling the movement of the propeller to enable the ship body to be always parallel to the direction of the wharf. The laser lines projected to the side wall of the wharf by the two laser pointers 11 are perpendicular to the side wall of the wharf.
The LED searchlight 10 mainly shoots and supplements light for a side elevation of a wharf, the laser pointer 11 is composed of front and back parallel lasers and is perpendicular to the center line of a ship body, the distance between the lasers is a fixed value, and the distance between the positions of the lasers projected on the wharf is consistent with the installation distance of the lasers. The stable cloud deck 13 guarantees the stability of the photographing process, the high definition camera 12 collects photos, the positions of photo diseases are provided by the GPS, and the disease sizes are calculated in an equal proportion mode by referring to the distance between laser pointing lines of the shot photos. Specifically, assuming that the size of the defect is found to be 0.5 times the distance between the two lasers, and the actual distance between the lasers is 1 meter, the size of the defect is 0.5 meter.
The sounding transducer probe 14 can realize the wharf front water depth measurement work of wharf detection, and can calculate the water depth of a diseased area and the position height of equipment for taking pictures through the water depth measurement and the height of a tide level.
More specifically, the longitude and latitude where the unmanned ship is located can be accurately measured through the GPS positioner, so that the geological height of the local water bottom is obtained according to the existing measurement data, and the vertical position of the unmanned ship can be more accurately obtained by combining the water depth measured by the sounding transducer probe 14 compared with the water depth measured by the GPS alone, so that a more accurate three-dimensional position is obtained. In addition, a posture meter or a gyroscope or a gyro stabilizer may be provided on the unmanned ship so as to record the deviation of the pointing position of the depth-finding transducer probe 14 when the unmanned ship shakes, thereby correcting the data. The sounding transducer probe 14, the GPS locator, the gyroscope and the like are all connected to the sounding instrument equipment box 7 for data processing. The high-definition camera 12, the LED searchlight 10, the laser pointer 11 and the like can be networked, so that the wharf condition can be observed in real time, and the unmanned ship can be controlled in real time.
In summary, the unmanned ship can accurately position the position of the wharf damage and the size of the damage, and is very convenient compared with manual field operation.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (5)
1. The unmanned ship for wharf detection is characterized by comprising two parallel double-air-bag buoys (1), wherein each double-air-bag buoy (1) is formed by splicing and fixing two air-bag buoys;
a ship body platform (2) is detachably fixed above the two double-air-bag buoys (1); the bottom of the front end of the ship body platform (2) is connected with a steering propeller (5), the bottom of the rear end of the ship body platform (2) is connected with a power propeller (4), the thrust direction of the steering propeller (5) is vertical to the front-back direction, and the thrust direction of the power propeller (4) is parallel to the front-back direction;
an unmanned ship control box (6) is arranged on the ship body platform (2), and the unmanned ship control box (6) is connected to the power propeller (4) and the steering propeller (5) through control lines; a communication system and a propeller battery are also arranged in the unmanned ship control box (6);
a sounding transducer probe (14) is further fixed below the middle part of the ship body platform (2); the front end and the rear end of the ship body platform (2) are respectively provided with a GPS (global positioning system) positioner, namely a bow GPS positioner (9) positioned at the front end and a stern GPS positioner (8) positioned at the rear end;
an equipment frame (3) is further erected above the ship body platform (2), an LED searchlight (10) is arranged in the middle of the side face of the equipment frame (3), laser pointers (11) are arranged at the front end and the rear end of the side face of the equipment frame (3), and the illumination directions of the LED searchlight (10) and the laser pointers (11) are the same side face direction vertical to the front-rear direction; the top of the center of the equipment frame (3) is also provided with a high-definition camera (12) through a stabilizing cradle head (13);
a depth finder equipment box (7) is further arranged above the ship body platform (2), and the depth finder equipment box (7) is connected to the GPS positioner and the depth measuring transducer probe (14).
2. The unmanned ship for wharf detection according to claim 1, characterized in that the unmanned ship control box (6) is located between the equipment rack (3) and the bow GPS locator (9), and the depth finder equipment box (7) is located between the equipment rack (3) and the stern GPS locator (8).
3. The unmanned ship for dock detection of claim 1, wherein the GPS locator is a differential type GPS locator.
4. The unmanned ship for dock detection according to claim 1, wherein a gyroscope is further provided on the hull platform (2), said gyroscope being connected to the depth finder equipment box (7).
5. The unmanned ship for wharf detection according to claim 1, wherein the depth-finding transducer probe (14), the bow GPS locator (9) and the stern GPS locator (8) are all located in the same vertical plane, and the depth-finding transducer probe (14) is located in the middle of the bow GPS locator (9) and the stern GPS locator (8) in the horizontal direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121401284.7U CN215794338U (en) | 2021-06-23 | 2021-06-23 | Unmanned ship for wharf detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121401284.7U CN215794338U (en) | 2021-06-23 | 2021-06-23 | Unmanned ship for wharf detection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215794338U true CN215794338U (en) | 2022-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121401284.7U Active CN215794338U (en) | 2021-06-23 | 2021-06-23 | Unmanned ship for wharf detection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215794338U (en) |
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2021
- 2021-06-23 CN CN202121401284.7U patent/CN215794338U/en active Active
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Denomination of utility model: Unmanned ship for Wharf detection Effective date of registration: 20220318 Granted publication date: 20220211 Pledgee: Guangfa Bank Co.,Ltd. Dalian Branch Pledgor: Dalian Gangcheng Engineering Testing Technology Co.,Ltd. Registration number: Y2022210000025 |