CN205819497U - A kind of unmanned surveying vessel for underwater topography mapping - Google Patents

Abstract

The utility model discloses an unmanned surveying ship used for underwater terrain surveying and mapping, which comprises a hull on which an environmental information collection device, a data processing device and a measuring platform are arranged, and the measuring platform is fixed on the On the hull, a support rod is provided at the measuring platform, a receiver is provided at the upper end of the support rod, and a transducer is provided at the lower end of the support rod, the receiver is used for elevation positioning, and the transducer is used for depth measurement. For measurement, the receiver is connected with the transducer, and the receiver is connected with the transducer with the depth sounder arranged on the hull. The utility model is equipped with a measurement platform that is easy to disassemble and assemble on the hull, and can convert a general boat into an unmanned survey ship for unmanned surveying and mapping. At the same time, other surveying and mapping or information collection can be performed as required, saving costs and making it more convenient. It is convenient to carry out measurements in shallow waters and reef areas, and can easily load other equipment to perform multi-tasks at the same time.

Description

An unmanned surveying vessel for underwater terrain mapping

technical field

The utility model relates to the field of unmanned boats, in particular to an unmanned surveying ship used for underwater terrain surveying and mapping.

Background technique

Traditional underwater topographic surveying and mapping must be carried out by a person personally driving a ship to a certain water surface area, which requires a large-scale ship and equipment, which is not only time-consuming, laborious and expensive, but also difficult for ships to measure due to the size and draft of the ship. In water areas (such as near-shore shallow water areas, reef areas, etc.), an unmanned survey ship is needed to reduce the scale necessary for ship surveying and mapping to meet the requirements of a larger surveying area.

In the measurement, people have higher and higher requirements for accuracy. At this time, a real-time phase difference technology appears, and its measurement accuracy can reach centimeter level. We can use RTK for elevation positioning, and then cooperate with the depth sounder to obtain the underwater terrain The high-precision elevation data, the patent of CN102692217A "method of using ground effect aircraft for river channel measurement" provides a method of RTK sounding.

Regarding the selection of the hull, most of them are individually customized in order to meet the measurement requirements. The patent "an energy-saving small unmanned ship" with the publication number CN204659979U has designed a box body and a submersible. For small unmanned ships, ships specially used for surveying and mapping are specially customized, resulting in limited functions of the ship, single purpose, and more expensive customization.

Utility model content

The technical problem to be solved by the utility model is to provide an unmanned surveying ship for underwater terrain surveying and mapping with a simple structure and easy disassembly. .

The technical scheme adopted by the utility model is: an unmanned surveying ship for underwater terrain surveying and mapping, including a hull, an environmental information collection device and a data processing device are arranged on the hull, and it is characterized in that: A measuring platform, the measuring platform is fixed on the hull through a clamping mechanism, a supporting rod is arranged at the measuring platform, a receiver is arranged at the upper end of the supporting rod, a transducer is arranged at the lower end of the supporting rod, and the receiving The machine is used for elevation positioning, the transducer is used for depth measurement, the receiver is connected with the transducer, and the receiver and transducer are connected with the depth sounder arranged on the hull.

According to the above technical solution, the clamping mechanism includes a support set on the four corners of the platform, the support includes a connecting part and a U-shaped engaging part, one end of the connecting part is connected with the measuring platform, and the other end is connected with the U The U-shaped engaging part is connected to the U-shaped engaging part, and the U-shaped engaging part is used to be installed on the ship's side of the hull. A screw is provided at the outer end of the U-shaped engaging part, and the screw is threaded with the U-shaped engaging part. Said screw, thereby fixing the support on the side of the ship.

According to the above technical solution, the support rod is a hollow metal support rod, and the receiver is connected with the underwater transducer through the hollow metal support rod.

According to the above technical solution, the support rod is installed outside the measurement platform, and it is supported by an upper support frame and a lower support frame. The upper support frame and the lower support frame are arranged in parallel and are connected to the measurement platform.

According to the above technical solution, both the upper support frame and the lower support frame are provided with grooves for clamping the support rods.

According to the above technical solution, the receiver is a GPS-RTK receiver.

According to the above technical solution, the hull is driven by a propeller propeller, and the propeller propeller is controlled by a propeller propeller control device installed on the hull.

According to the above technical solution, the environmental information collection device includes a ship attitude sensor and a wind direction and wind speed sensor.

The beneficial effects obtained by the utility model are as follows: the utility model can convert a general small boat into an unmanned surveying ship by carrying a measuring platform on the hull which is easy to disassemble, and can carry out unmanned surveying and mapping, and at the same time, other surveying and mapping can be carried out as required Or information collection work, saving costs, can more conveniently carry out measurements in shallow waters and reef areas, and can easily load other equipment to perform multiple tasks at the same time; in addition, it can be more flexible to install GPS on the measurement platform RTK receivers and transducers, combined with GPS RTK and depth sounder positioning technology, significantly improve the accuracy of surveying and mapping; the measurement platform of the utility model is fixed by a clamping mechanism, and the requirements for ships are not high. General hard plastic ships, FRP ships can be refitted, and there is no need to customize ships, which increases versatility and reduces costs.

Description of drawings

Fig. 1 is the three-dimensional structural diagram of the present utility model.

Fig. 2 is a top view of the utility model.

Fig. 3 is a structural schematic diagram of the support member of the present invention.

detailed description

Below in conjunction with accompanying drawing, the utility model is further described.

As shown in Figures 1 and 2, the present embodiment provides an unmanned surveying ship for underwater terrain surveying and mapping, including a hull, on which an environmental information collection device and a data processing device 3 are arranged, and the environmental information collection The device includes a ship attitude sensor 2 and a wind direction and wind speed sensor 1, and a measurement platform 6 is arranged on the hull, and the measurement platform 6 is fixed on the hull through a clamping mechanism 7, and a hollow metal support is installed on the outside of the measurement platform 6 The rod 11 is clamped by the groove provided on the upper support frame 12 and the lower support frame 13 , the upper support frame 12 and the lower support frame 13 are arranged in parallel, and both are connected with the measurement platform 6 . The upper end of support rod 11 is provided with GPS-RTK receiver 8, and the lower end of support rod 11 is provided with transducer 10, and described GPS-RTK receiver 8 is used for elevation positioning, and described transducer 10 is used for carrying out For depth measurement, the GPS-RTK receiver 8 is connected to the underwater transducer 10 through a hollow metal support rod 11, and wires are set inside the hollow metal support rod to connect the receiver and the transducer. The receiver 8 is connected with the transducer 10 and the depth sounder 9 provided on the hull. The hull is driven by a propeller 5, and the propeller 5 is controlled by a propeller control device 4 installed on the hull.

As shown in Figures 1 and 3, the clamping mechanism includes supports arranged on the four corners of the platform, the supports include a connecting portion 14 and a U-shaped engaging portion 15, and one end of the connecting portion 14 is connected to the measuring platform. The other end is connected with the U-shaped engaging part 15, and the U-shaped engaging part 15 is used to be clamped on the ship's side of the hull, and a screw 16 is arranged at the outer end of the U-shaped engaging part, and the screw 16 is connected with the The U-shaped engaging part is threadedly connected, and the support member is fixed on the ship's side by rotating the screw rod 16 .

The measurement platform 6 in this embodiment can be a metal frame, or other types of platforms, and its shape is not limited.

The working principle of the utility model is: the ship collects wind speed and wind direction information through the wind direction and wind speed sensor 1, the ship attitude sensor 2 collects the attitude information of the ship, transmits the collected information to the data processing device 3, combines the information with the preset path, By controlling the propeller propeller control device 4 to adjust the thrust and propulsion direction of the propeller propeller 5, multi-factor and multi-parameter reference enables the ship to sail more accurately and stably according to the positioning design route. The GPS RTK receiver 8 is used for elevation positioning and the transducer for depth measurement. The GPS RTK receiver 8 is set up above the transducer 10. The relative position of the two is stable, and it is only necessary to convert and calculate the data of the two. Obtain the elevation data of the underwater terrain, import the data of the GPS RTK receiver 8 and the transducer 10 into the depth sounder 9, the conversion of the two data is also completed in the depth sounder 9, finally export the elevation file, import the file The CASS software running on the CAD platform can generate the isobath map and complete the surveying and mapping. In addition, other equipment can also be installed in other positions of the measurement platform as required, and multi-task deployment can be carried out at the same time.

Claims (8)

1. An unmanned surveying ship for underwater topographical surveying and mapping, comprising a hull, on which an environmental information collection device and a data processing device are provided, and is characterized in that: a measuring platform is provided on the hull, and the measuring platform passes through The clamping mechanism is fixed on the hull, a support bar is provided at the measuring platform, a receiver is provided at the upper end of the support bar, and a transducer is provided at the lower end of the support bar. The receiver is used for elevation positioning, and the The transducer is used for depth measurement, the receiver is connected with the transducer, and the receiver is connected with the transducer with the depth sounder arranged on the hull. 2. An unmanned surveying vessel for underwater terrain surveying and mapping according to claim 1, characterized in that: the clamping mechanism includes supports arranged on the four corners of the platform, and the supports include connecting parts and the U-shaped engaging part, one end of the connecting part is connected with the measuring platform, and the other end is connected with the U-shaped engaging part, and the U-shaped engaging part is used to be mounted on the side of the hull, and the U-shaped engaging part The outer end of the part is provided with a screw, and the screw is threadedly connected with the U-shaped engaging part, and the support is fixed on the side of the ship by rotating the screw. 3. The unmanned surveying ship for underwater terrain surveying and mapping according to claim 1 or 2, characterized in that: the support rod is a hollow metal support rod, and the receiver communicates with the receiver through the hollow metal support rod. The underwater transducer is connected. 4. The unmanned surveying ship for underwater terrain surveying and mapping according to claim 1 or 2, characterized in that: the support rod is installed on the outside of the surveying platform, and it passes through the upper support frame and the lower support frame Support, the upper support frame and the lower support frame are arranged in parallel, and both are connected with the measurement platform. 5 . The unmanned surveying vessel for underwater terrain surveying and mapping according to claim 4 , wherein grooves for clamping support rods are provided on the upper support frame and the lower support frame. 6 . 6. The unmanned surveying ship for underwater terrain surveying and mapping according to claim 1 or 2, characterized in that: the receiver is a GPS-RTK receiver. 7. The unmanned surveying ship for underwater terrain surveying and mapping according to claim 1 or 2, characterized in that: the hull is driven by a propeller propeller, and the propeller propeller is driven by a propeller installed on the hull Propeller propeller controls. 8. The unmanned surveying ship for underwater terrain surveying and mapping according to claim 1 or 2, characterized in that: the environmental information collection device includes a ship attitude sensor and a wind direction and wind speed sensor.