CN209553437U - Unmanned mapping ship - Google Patents
Unmanned mapping ship Download PDFInfo
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- CN209553437U CN209553437U CN201920037580.XU CN201920037580U CN209553437U CN 209553437 U CN209553437 U CN 209553437U CN 201920037580 U CN201920037580 U CN 201920037580U CN 209553437 U CN209553437 U CN 209553437U
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Abstract
The utility model discloses a kind of unmanned mapping ships: including hull and the task system being mounted on the hull；The hull is diafloat tank ship, and the task system includes the underwater sound equipment in several connecting bridges for being mounted on the diafloat tank ship.The utility model has the advantage that as the platform of mapping operation first is that diafloat tank ship stability itself is good, conducive to being normally carried out for mapping operations；Second is that notch is arranged in connecting bridge, setting is not needed alow, to the change very little of ship type；Third is that underwater sound equipment can avoid being damaged when not working as far as possible far from the water surface.
Description
Technical field
The utility model relates to marine charting technical fields, and in particular to a kind of unmanned mapping ship.
Background technique
As recorded in non-patent literature 1, marine charting is to obtain and describe the water bodys such as ocean, rivers, lake and encirclement water
The basic geographic elements of each object of body and its theory and technology of geometry and physical attribute information, are the one of Surveying Science and Technology
A important branch is all military oceans, scientific research of seas and develops and utilizes movable basis.Underwater sound equipment is as ocean
Essential equipment is surveyed and drawn, with ocean development and monitoring, the rapid development of scientific research of seas, is widely applied simultaneously
Great function is played.
Existing shallow sea water sound Mapping Flat is divided into someone's ship and two kinds of unmanned boat.The former can carry a variety of underwater sounds and set
Standby, perfect in shape and function, but operating cost is high is limited larger by complicated sea situation, shallow water topography, and there is also one by operation on the sea personnel
Fixed security risk；The latter's tonnage is small, relatively flexibly, can substantially enter each setting, but be typically all specially to set
The ship type of meter is only carried a kind of underwater sound equipment, therefore is had a single function, although other mapping equipments can be replaced, generally requires
It will could be replaced after unmanned boat lifting disembarkation, replacement difficulty is larger, and the frequent replacement of this external equipment can also reduce the performance of equipment
And reliability.
Non-patent literature 1: Zhao Jianhu, wait marine charting state-of-the-art [J] survey and draw geography information, 2017,42
(6): 2-10.
Patent document 1:CN106598051A, a kind of flight tracking control method based on force vector.
Patent document 2:CN106444759A, a kind of automatic homeward method and system of unmanned boat.
Utility model content
In order to overcome the drawbacks described above of existing unmanned mapping ship, its versatility and the scope of application are improved, the utility model mentions
A kind of unmanned mapping ship is supplied.
The technical solution adopted in the utility model is as follows:
A kind of unmanned mapping ship: including hull and the task system being mounted on the hull；The hull is floating for binary
Cylinder ship, the task system includes the underwater sound equipment in several connecting bridges for being mounted on the diafloat tank ship.
The beneficial effects of the utility model are: diafloat tank ship of the utility model stability itself is good, it is conducive to mapping work
That makees is normally carried out；Notch is arranged in connecting bridge, does not need setting alow, only need to be to existing without designing new herbicide
Ship type makees adaptability reform；In addition, underwater sound equipment can avoid being damaged when not working as far as possible far from the water surface.Therefore binary
Carrier of the Float-tube ship as the task system of mapping operation, has apparent advantage.
Preferred: the task system further includes crane, the crane drive the underwater sound equipment emersion water surface or
It protrudes into water.
Preferred: the crane includes being mounted on the hull upper holder, is equipped with elevator on the fixed frame
Structure, the elevating mechanism drive the underwater sound equipment lifting, and the fixed frame can move on the hull.
Preferred: the elevating mechanism includes adjustable shelf, lifting push rod and lifting guide pillar, and the lifting push rod is arranged in institute
It states between fixed frame and adjustable shelf, the lifting guide pillar upper end connects the adjustable shelf, the underwater sound equipment, middle part are installed in lower end
It slides and is oriented to the fixed frame.
Preferred: the connecting bridge of the diafloat tank ship is equipped with notch, and the two sides of the notch are equipped with guide rail, described solid
Determine to be equipped with the idler wheel cooperated with the guide rail below frame.
It is preferred: fixing seat to be set below the fixed frame, the fixing seat is hinged overturning seat, is used for the fixed frame
Overturning and fixation.
Preferred: the lower section of the fixed frame is equipped with the accommodation space of the underwater sound equipment.
Preferred: the hull is aluminum alloy material, is used as power source with battery, using electric propulsion system.
Preferred: the underwater sound equipment includes mutually independent multibeam sounding system, side scan sonar and Sub-bottom profiler.
Detailed description of the invention
Fig. 1 is the block diagram of the utility model embodiment.
Fig. 2 is the schematic diagram of unmanned mapping ship in the utility model embodiment.
Fig. 3 is the top view of unmanned mapping ship in the utility model embodiment.
Fig. 4 is the schematic diagram of task system in the utility model embodiment.
Fig. 5 is the schematic diagram of crane in the utility model embodiment.
Fig. 6 is the schematic diagram after crane fell in the utility model embodiment.
Fig. 7 is the schematic diagram of fixing seat in the utility model embodiment.
Unmanned mapping ship 1, bank base control station 2, hull 101, dynamical system 102, control system 103, communication system 104,
Task system 105, underwater sound equipment 106, intelligent navigation system 107, crane 108, fixed frame 109, adjustable shelf 110, lifting push away
Bar 111, lifting guide pillar 112, notch 113, guide rail 114, idler wheel 115, fixing seat 116.
Specific embodiment
The utility model is described in further detail with embodiment with reference to the accompanying drawing.
In embodiment, as shown in Fig. 1 ~ 7, a kind of shallow sea water sound Mapping Flat: including unmanned mapping ship 1 and bank base control station
2；The unmanned mapping ship 1 includes hull 101, dynamical system 102, control system 103, communication system 104 and task system
105；The bank base control station 2 is operating platform, sends a command to the unmanned mapping ship 1, and receives the unmanned mapping ship 1
Feedback information；The task system 105 includes several underwater sound equipments 106, and every underwater sound equipment 106 all has emersion
The water surface and protrude into the two states in water.The present embodiment can use needed for making rational planning for according to the demand of job task
Underwater sound equipment 106 and its using sequence, after the completion of a kind of 106 operation of underwater sound equipment, is remotely operated to rise by bank base control station 2 and be received
The underwater sound equipment 106 is played, and declines another underwater sound equipment 106 and carries out operation, therefore the replacement of underwater sound equipment 106 is not required to nothing
People surveys and draws ship 1 and the operation such as lifts by crane, dismantles, it can be achieved that continuous continual working method, combine existing someone's ship and
The advantages of two kinds of Mapping Flats of unmanned boat, perfect in shape and function and limited by sea situation, shallow water topography small, equipment dependability is strong, mentions significantly
High working efficiency.
In embodiment, as shown in Fig. 1 ~ 3: the communication system 104 of bank base control station 2 and unmanned mapping ship 1 can choose net
The modes such as bridge, radio station, effective communication distance can reach 5km, and can guarantee preferable communication quality, be able to satisfy substantially close
The demand that sea, shallow sea are surveyed and drawn.There are two functions for the tool of control system 103, first is that the normal/cruise of hull 101 is controlled, second is that control
The movement of underwater sound equipment 106.On boat-carrying industrial personal computer, bank base control station 2 passes through long-range the software installation of all underwater sound equipments 106
The mode of desktop is operated.
In embodiment, when using underwater sound equipment 106, corresponding operation: bank need to be only carried out on bank base control station 2
Base control station 2 issues the corresponding instruction (navigation that the opening and closing of equipment power supply, the setting of device parameter and change, unmanned boat are planned
Route etc.), control system 103 is received to instruct and instruction is passed to corresponding mechanism and be executed；Underwater sound equipment 106 is adopted simultaneously
The data of collection reach bank base control station 2 by communication system 104, operator can observation device in real time operating condition.
In embodiment, the unmanned mapping ship 1 further includes intelligent navigation system 107 as shown in Figure 1:.The intelligence of this implementation
Navigation system 107 can refer to the content in patent document 1 and patent document 2, has and accurately cruises and automatic homeward two by track
Kind function, to realize that the intelligence of unmanned mapping ship 1 is navigated by water.
In embodiment, as shown in Fig. 2 ~ 4: the underwater sound equipment 106 is swept including mutually independent multibeam sounding system, side
Sonar and Sub-bottom profiler.Multibeam sounding system is using more primitive acoustic transducer battle arrays and extensive angle emits and reception technique,
The high density bathymetric data for forming wide vertically hung scroll can accurately and quickly measure the big of along the one fixed width of course line submarine target
The fine-feature of small, shape and sea-floor relief；The data acquisition very dense of multibeam sounding system, according to a certain percentage ruler
The three-dimensional graph drawn out can make the bottom reach effect of visualization interior on a large scale, can be greatly improved to water-bed target and landform
The degree of awareness, be widely used in bathymetric surveying, submerged pipeline route exploration, submerged pipeline state detection, water-bed mesh
In the engineerings such as mark search.Side scan sonar has many advantages, such as that high resolution, reflection Submarine Geomorphic Features are thorough, can efficiently sweep survey mesh
Region is marked, water-bed acoustics image is acquired, even lesser object and works, side scan sonar can also clearly indicate out it
Details, be at this stage wire drag survey, emergence measuring, sweep survey barrier important means, and at present find underwater obstacle most
One of effective method；Side scan sonar can be used for the Route Surveys such as acquisition, underwater cable, the pipeline of underwater topography image, bridge pier,
The underwater hydro-structure inspection such as dam.Sub-bottom profiler is the ideal work to the following deposit in seabed or rock identification and classification
Tool is the effective tool for studying each layer formation in seabed and its thickness, commonly used in geological prospecting, dredging operation and positioning water
Bottom object (pipeline such as buried).The present embodiment can be remotely operated according to the demand of job task by bank base control station 2, choosing
Certain underwater sound equipment 106 is dropped to water surface following operations by selecting property, and be substantially able to satisfy that shallow sea water sounding draws is all
Demand.
In embodiment, as shown in Fig. 2 ~ 4: the task system 105 further includes crane 108, and the crane 108 drives
The underwater sound equipment 106 switches in two states.The crane 108 of the present embodiment switches the state of underwater sound equipment 106 very
It is convenient, the water surface can be left when underwater sound equipment 106 does not work, and reduce the impaired probability of equipment, and can also prevent the different underwater sounds and set
Interfering with each other between standby 106.
In embodiment, as shown in Fig. 2 ~ 4: the crane 108 includes being mounted on 101 upper holder 109 of hull, institute
It states and elevating mechanism is installed on fixed frame 109, the elevating mechanism drives the underwater sound equipment 106 to go up and down, the fixed frame 109
It can be moved on the hull 101.The crane 108 of the present embodiment can not only drive underwater sound equipment 106 to go up and down, moreover it is possible to drive water
Acoustic equipment 106 is mobile, convenient for adjusting position or other adjustment of underwater sound equipment 106, increases the versatility and practicability of equipment.
In embodiment, as shown in Fig. 2 ~ 4: the elevating mechanism includes adjustable shelf 110, lifting push rod 111 and lifting guide pillar
112, the lifting push rod 111 is arranged between the fixed frame 109 and adjustable shelf 110,112 upper end of the lifting guide pillar connection
The adjustable shelf 110, lower end are installed the underwater sound equipment 106, middle part and the fixed frame 109 sliding and are oriented to.The present embodiment
Lifting guide pillar 112 has two, and the two sides of lifting push rod 111 are arranged in, first is that the installation of underwater sound equipment 106 is than stronger, second is that
Stress is more balanced.Lifting push rod 111 can make to be the devices such as cylinder, hydraulic cylinder, electric pushrod, good with stability, convenient for real
Now automatically controlling is advisable.
In embodiment, as shown in Fig. 2 ~ 4: the hull 101 is equipped with the notch 113 penetrated through with the water surface, the notch 113
Two sides be equipped with guide rail 114, the idler wheel 115 cooperated with the guide rail 114 is equipped with below the fixed frame 109.The present embodiment
For realizing the movement of fixed frame 109, the mode of track is relatively labor-saving for idler wheel 115 and guide rail 114, and has certain position
Restriction effect is set, avoids fixed frame 109 that horizontal looseness occurs.
In embodiment, as shown in Fig. 5 ~ 7: the lower section of the fixed frame 109 sets fixing seat 116, and the fixing seat 116 is hinge
Overturning seat is connect, the overturning and fixation for the fixed frame 109.The fixing seat 116 of the present embodiment is solid by dismountable bolt
It is scheduled on hull 101, thus realize being fixed temporarily for fixed frame 109, and the form of hinged overturning seat, so that fixed frame 109 has
Rollover states shown in fig. 6, consequently facilitating the maintenance or maintenance of underwater sound equipment 106.
In embodiment, as shown in Fig. 5 ~ 6: the receiving that the lower section of the fixed frame 109 is equipped with the underwater sound equipment 106 is empty
Between.There are four long legs for the tool of fixed frame 109 of the present embodiment, across the two sides of notch 113, and a water are formed between long leg
106 accommodation space of acoustic equipment stays in this position after the rise of underwater sound equipment 106, such as two, left side underwater sound equipment in Fig. 5
Shown in 106, so that underwater sound equipment 106 is accommodated in hull completely, avoid exposed receiving damage.
In embodiment, as shown in Fig. 2 ~ 3: the hull 101 is diafloat tank ship, and the task system 105 is mounted on institute
In the connecting bridge for stating diafloat tank ship.Unmanned mapping ship uses electric propulsion system, is easy to implement remote auto control, using can
The reserve battery of replacement has longer cruising ability.Particularly, diafloat tank ship stability itself is good, and notch 113 is arranged
In connecting bridge, setting is not needed alow, therefore to the change very little of ship type, furthermore the energy when not working of underwater sound equipment 106
It as far as possible far from the water surface, avoids being damaged, therefore carrier of the diafloat tank ship as the present embodiment task system 105, have apparent
Advantage.
The diafloat tank ship that the present embodiment is selected, basic parameter are as follows:
Material: aluminium alloy；
Captain: 7.6m；
The beam: 2.6m；
Moldeed depth: 0.63m；
Drinking water: 0.40m；
The speed of a ship or plane: 8kn(design speed), the speed of a ship or plane can be adjusted at any time according to the requirement of the underwater sound equipment of carrying when operation；
Cruising ability: 6 hours, replacement battery life doubled.
This type of diafloat tank ship flexibility is good and has certain wind and wave resistance energy, is used as shallow sea water sound Mapping Flat, complete
The requirement of mapping operation all can be met.
Obviously, the above embodiments of the present invention is merely to illustrate that examples for clearly illustrating the present invention, and is not
Limitations of the embodiments of the present invention.For those of ordinary skill in the art, on above explained basis
On can also make other various forms of variations or variation.There is no need and unable to give poor example to all embodiments.
And these connotation changes and variations that derived from for belonging to the utility model still fall within the utility model
Protection scope.
Claims (9)
1. a kind of unmanned mapping ship (1), it is characterised in that: including hull (101) and being mounted on the hull (101) for task
System (105)；The hull (101) is diafloat tank ship, and the task system (105) includes several and is mounted on the binary
Underwater sound equipment (106) in the connecting bridge of Float-tube ship.
2. unmanned mapping ship according to claim 1, it is characterised in that: the task system (105) further includes crane
(108), the crane (108) drives underwater sound equipment (106) the emersion water surface or protrudes into water.
3. unmanned mapping ship according to claim 2, it is characterised in that: the crane (108) is described including being mounted on
Hull (101) upper holder (109), elevating mechanism is equipped on the fixed frame (109), and the elevating mechanism drives the water
Acoustic equipment (106) lifting, the fixed frame (109) can move on the hull (101).
4. unmanned mapping ship according to claim 3, it is characterised in that: the elevating mechanism includes adjustable shelf (110), rises
It drops push rod (111) and lifting guide pillar (112), the lifting push rod (111) is arranged in the fixed frame (109) and adjustable shelf
Between (110), lifting guide pillar (112) upper end connects the adjustable shelf (110), the underwater sound equipment (106) is installed in lower end,
Middle part and the fixed frame (109) sliding are oriented to.
5. unmanned mapping ship according to claim 3, it is characterised in that: the connecting bridge of the diafloat tank ship is equipped with slot
The two sides of mouth (113), the notch (113) are equipped with guide rail (114), and fixed frame (109) lower section is equipped with and the guide rail
(114) idler wheel (115) cooperated.
6. unmanned mapping ship according to claim 3, it is characterised in that: set fixing seat below the fixed frame (109)
(116), the fixing seat (116) is hinged overturning seat, is used for the overturning and fixation of the fixed frame (109).
7. unmanned mapping ship according to claim 3, it is characterised in that: the lower section of the fixed frame (109) is equipped with described
The accommodation space of underwater sound equipment (106).
8. unmanned mapping ship according to claim 1, it is characterised in that: the hull (101) is aluminum alloy material, to store
Battery power source, using electric propulsion system.
9. unmanned mapping ship according to claim 1, it is characterised in that: the underwater sound equipment (106) includes mutually indepedent
Multibeam sounding system, side scan sonar and Sub-bottom profiler.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920037580.XU CN209553437U (en) | 2019-01-10 | 2019-01-10 | Unmanned mapping ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920037580.XU CN209553437U (en) | 2019-01-10 | 2019-01-10 | Unmanned mapping ship |
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| Publication Number | Publication Date |
|---|---|
| CN209553437U true CN209553437U (en) | 2019-10-29 |
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ID=68305841
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| CN201920037580.XU Active CN209553437U (en) | 2019-01-10 | 2019-01-10 | Unmanned mapping ship |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111694003A (en) * | 2020-06-19 | 2020-09-22 | 黄河勘测规划设计研究院有限公司 | Underwater ground object recognition system |
| CN116374078A (en) * | 2023-04-13 | 2023-07-04 | 无锡卡尔曼导航技术有限公司南京技术中心 | Lifting mechanism, unmanned ship comprising same and method |
-
2019
- 2019-01-10 CN CN201920037580.XU patent/CN209553437U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111694003A (en) * | 2020-06-19 | 2020-09-22 | 黄河勘测规划设计研究院有限公司 | Underwater ground object recognition system |
| CN111694003B (en) * | 2020-06-19 | 2021-07-13 | 黄河勘测规划设计研究院有限公司 | Underwater ground object recognition system |
| CN116374078A (en) * | 2023-04-13 | 2023-07-04 | 无锡卡尔曼导航技术有限公司南京技术中心 | Lifting mechanism, unmanned ship comprising same and method |
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