CN204269114U - Based on the waters of two ship model formula, beach and bank slope geospatial information measuring table - Google Patents

Abstract

A water area, tidal flat and bank slope geospatial information measurement platform based on a two-ship model, which includes a mother ship and an unmanned automatic measurement ship, and is characterized in that: the mother ship equipped with a number of measurement devices is wirelessly connected to the wireless carrier equipped with a number of measurement devices The human-driven automatic survey ship forms a double-vessel mode to simultaneously measure the geographical space of waters, tidal flats and bank slopes. The utility model solves the problem of difficult navigation and positioning in the blind area of the GPS signal through the combination of the GPS and the inertial navigation system, and adopts a combined navigation mode. Groundbreaking applied innovations in the field.

Description

Geospatial information measurement platform for waters, tidal flats and slopes based on two-vessel model

technical field

The utility model relates to a geographic space information measurement platform, in particular to a water area, tidal flat and bank slope geographic space information measurement platform based on a double-ship model.

Background technique

With the continuous advancement of high-tech related to waters such as oceans, the development, utilization and protection of waters and related resources will continue to deepen and expand. Sandbars, silt flats, side beaches, reefs and other complex environments are widely developed in coastal areas. Since most of these beaches are muddy beaches, in the surveying and mapping of rivers and oceans, there is often a complex environmental problem of "no boats can get on and people can't get off". As a result, the quality of measurement results has been seriously affected, and the current surveying and mapping technology means are single, and collaborative operations are difficult and cannot be obtained. However, these beaches are the key areas for engineering planning and renovation, and also the key areas for engineering surveys. At the same time, it is also a key area for the construction of water conservancy projects such as wharfs and ports. Acquiring accurate geospatial information is of great significance to engineering design and construction.

In view of the complexity of the environment such as waters, tidal flats and bank slopes, in order to obtain precise geospatial information, it is necessary to rely on the fusion of multiple sensors. Taking geographic information acquisition near the coast as an example, tidal flats need to be measured by non-contact means such as lasers, and shallow water areas must be measured by ships with very small drafts equipped with sonar. Based on this, through the construction of a two-vessel collaborative measurement system platform, the integrated measurement technology of waters, tidal flats and slopes in complex environments will become a more accurate and efficient means of geospatial information acquisition.

Contents of the invention

The purpose of this utility model is to provide a water area, tidal flat and bank slope geospatial information measurement platform based on the two-ship model, which solves the problem of the complex environment measurement of sandbars, mud flats, edge beaches, and reefs in the near-coast area in the prior art. Problems such as low spatial information efficiency and low accuracy. At the same time, when encountering pier piers, satellite signals such as GPS will be lost, and the measurement operation cannot be carried out.

The utility model is achieved in this way, which includes a mother ship and an unmanned automatic measuring ship, and is characterized in that: the mother ship equipped with several measuring devices is wirelessly connected to the unmanned automatic measuring ship equipped with a plurality of measuring devices to form a double-ship mode cooperative operation , to achieve precise acquisition of geospatial information of waters, tidal flats and slopes.

The measuring equipment of the mother ship includes a three-dimensional laser scanner, an area array camera, a multi-beam echo sounder (1), a single-beam echo sounder (1), a radio station (1), a data memory (1) and a control circuit board (1) ), the control circuit board (a) is respectively connected to the rest of the above devices.

The unmanned automatic measurement ship includes an unmanned ship automatic driving terminal, a navigator, an inertial navigation system, a multi-beam echo sounder (2), a single-beam echo sounder (2), a radio station (2), and a data storage device (2 ) and the control circuit board (2), the control circuit board (2) is respectively connected to the rest of the above devices.

The control circuit board (2) of the unmanned automatic survey ship can also be connected to a three-dimensional laser scanner and an area array camera.

The technical effects of the utility model are: 1. The scouring and silting changes of the underwater seabed around large marine buildings such as bridge piers and wharves are measured in GPS signal blind areas, which is a very important factor affecting the safety of buildings. Under normal circumstances, the above-mentioned areas are also signal blind areas of satellite positioning systems such as GPS. At present, the traditional method mainly uses a shore-based total station to locate the hull, which is inefficient and has poor accuracy. The utility model solves the problem of difficult navigation and positioning in blind areas of GPS signals by adopting a combination of GPS and an inertial navigation system and adopting a combined navigation mode. Groundbreaking applied innovations in the field. 2. There are many tidal flats and bank slopes in the non-contact measurement of tidal flats and bank slopes. At present, the traditional mode mainly adopts the mode of manual beach running or tractor running beach, and RTK is used for tidal flat measurement. Due to the constantly changing tides along the coast, the measurement time is short and the data resolution is particularly low. This product adopts non-contact measurement technology such as mobile three-dimensional laser scanning, and uses the hull as the carrier to solve the problem of tidal flat measurement under the complex change of tide. This model has high precision and resolution, supplemented by a panoramic camera, which can more completely reflect the texture changes of tidal flats. It provides a new method for rapid acquisition of near-coast geospatial information after coastal tidal flat survey and typhoon and other catastrophic weather. 3. In addition to tidal flats, there are also large-scale shoals near the coast, which are inaccessible to personnel and large ships. The traditional method mainly uses the survey ship to rush to measure quickly when the tide is at high tide. Due to the complex changes in tides, the daily measurement time is very limited. This product adopts an unmanned automatic survey ship, the draft of which is very shallow, can reach 0.15m, which can meet the shallow water area measurement. At the same time, using this mode is safe, fuel-efficient and highly efficient.

Description of drawings

Fig. 1 is the schematic diagram of the principle of the utility model.

Fig. 2 is a measurement schematic diagram of the utility model.

In the figure, 1. Mother ship 2. Unmanned automatic survey ship 3. Three-dimensional laser scanner 4. Area array camera 5. Multi-beam echo sounder (1) 6. Single-beam echo sounder (1) 7. Radio station ( 1) 8. Data memory (1) 9. Control circuit board (1) 10. Unmanned ship automatic driving terminal 11. Navigator 12. Inertial navigation system 13. Multi-beam echo sounder (2) 14. Single-beam echo detection Instrument (two) 15. Radio station (two) 16. Data memory (two) 17. Control circuit board (two).

Detailed ways

As shown in Fig. 1 and Fig. 2, the utility model is realized in that the mother ship 1 equipped with some measuring equipment wirelessly connects the unmanned automatic surveying ship 2 equipped with some measuring equipment to form a double-vessel mode to simultaneously monitor water areas, tidal flats and Slope geospatial measurement. The measuring equipment of the mother ship 1 includes a three-dimensional laser scanner 3, an area array camera 4, a multi-beam echo sounder (1) 5, a single-beam echo sounder (1) 6, a radio station (1) 7, and a data storage device (1) 8 and the control circuit board (a) 9, the control circuit board (a) 9 is respectively connected to the rest of the above devices. The unmanned automatic survey ship 2 includes an unmanned ship automatic driving terminal 10, a navigator 11, an inertial navigation system 12, a multi-beam echo sounder (two) 13, a single-beam echo sounder (two) 14, a radio station (two) ) 15, data memory (2) 16 and control circuit board (2) 17, and the control circuit board (2) 17 is respectively connected to the rest of the above devices. The control circuit board (2) of the unmanned automatic survey ship can also be connected to a three-dimensional laser scanner and an area array camera. Among them, the 3D laser scanner and area array camera carried by the mother ship are mainly used to provide non-contact 3D point cloud data within 500m; the mother ship is positioned by its own navigator; the single beam echo sounder measures the water depth of a single point where the ship is located ; The multi-beam echo sounder measures the depth data within a fan-shaped strip at the position of the ship; the radio station (1) is mainly used to receive various data collected by the unmanned ship and to transmit instructions from the control terminal. The navigator of the unmanned automatic survey ship is mainly used to collect the cm-level spatial position of the ship, the single-beam echo sounder is mainly used for single-point water depth measurement in shallow water areas, and the unmanned ship automatic driving terminal is mainly used to monitor unmanned The four-dimensional attitude of the driving ship (Roll, Pitch, Heave, Yaw), the above data is transmitted back to the mother ship through the on-board radio station (2); for areas beyond 500m where the mother ship cannot enter, the 3D laser scanner can be installed on the unmanned ship to Realize longer-distance tidal flat or bank slope measurement. The equipment carried by the unmanned ship is not limited to the non-contact measurement equipment in the description.

Claims (4)

1. A water area, tidal flat and bank slope geospatial information measurement platform based on a two-ship model, which includes a mother ship and an unmanned automatic measurement ship, characterized in that: the mother ship equipped with a number of measurement devices is wirelessly connected and equipped with a number of measurement devices The unmanned automatic surveying ship forms a two-ship cooperative operation to realize the geographical space measurement of waters, tidal flats and bank slopes. 2. The water area, tidal flat and bank slope geospatial information measurement platform based on the double-vessel mode according to claim 1, characterized in that: the measurement equipment of the mother ship includes a three-dimensional laser scanner, an area array camera, and a multi-beam echo detector Instrument 1, single-beam echo sounder 1, radio station 1, data memory 1 and control circuit board 1, the control circuit board 1 is respectively connected to the rest of the above equipment. 3. The water area, tidal flat and bank slope geospatial information measurement platform based on the double-vessel mode according to claim 1, characterized in that: the unmanned automatic measurement ship includes an unmanned ship automatic driving terminal, a navigator, an inertial The navigation system, the multi-beam echo sounder II, the single-beam echo sounder II, the radio station II, the data memory II and the control circuit board II, and the control circuit board II are respectively connected to the remaining devices above. 4. The water area, tidal flat and bank slope geospatial information measurement platform based on the double-vessel mode according to claim 3, characterized in that: the control circuit board 2 of the unmanned automatic measurement ship can also be connected to a three-dimensional laser scanner , area array camera.