CN105270583A - Measuring type unmanned ship and measuring method thereof - Google Patents
Measuring type unmanned ship and measuring method thereof Download PDFInfo
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- CN105270583A CN105270583A CN201410312248.1A CN201410312248A CN105270583A CN 105270583 A CN105270583 A CN 105270583A CN 201410312248 A CN201410312248 A CN 201410312248A CN 105270583 A CN105270583 A CN 105270583A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
- B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
- B63B1/12—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly
- B63B1/125—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly comprising more than two hulls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2211/00—Applications
- B63B2211/02—Oceanography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63J—AUXILIARIES ON VESSELS
- B63J3/00—Driving of auxiliaries
- B63J2003/001—Driving of auxiliaries characterised by type of power supply, or power transmission, e.g. by using electric power or steam
- B63J2003/002—Driving of auxiliaries characterised by type of power supply, or power transmission, e.g. by using electric power or steam by using electric power
- B63J2003/003—Driving of auxiliaries characterised by type of power supply, or power transmission, e.g. by using electric power or steam by using electric power using photovoltaic power generation, e.g. using solar panels
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
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- Fluid Mechanics (AREA)
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A measuring type unmanned ship comprises the following structures including a ship body, a GNSS mainframe, a depthometer and a wireless data transmission module, wherein the ship body forms a hardware bearing platform for the unmanned ship; a cabin with a sealed space is arranged in the ship body; the GNSS mainframe is used for detecting the current position of the unmanned ship; the depthometer is used for detecting the water depth in the current position of the unmanned ship; the wireless data transmission module is connected with a control device and used for transmitting the current position information and an equipment working state and receiving a control instruction. A measuring method of the measuring type unmanned ship comprises the following steps that the unmanned ship automatically measures a preset water area according to an instruction signal obtained by the control device and automatically matches the measured water depth data and corresponding position coordinates of measuring points; the water depth information and the position information are transmitted and backed up through the wireless data transmission module and a memory; after the measuring range is finished, multi-point water depth information of the water area can be obtained; and then the information is summarized to obtain water depth status and underwater topography status of the water area.
Description
Technical field
The present invention relates to the technical field of hydrographic survey and marine monitoring, is a kind of by automatic measurement type unmanned boat and method of measurement of the depth of water in setting waters and submarine geomorphy situation being carried out to sampling mapping or detection specifically.
Background technology
At present, project and the content of marine charting just constantly increase, and propose more and more higher requirement to the research and development of mapping method and surveying and mapping technology and application.Usually the mode adopting artificial survey line one by one of going by ship to survey district's mapping one by one at sea in field operation bathymetric investigation is carried out.Generally be divided into two parts: one is the abyssal area (depth of water is more than 15m) away from bank; Two is Nearshore Shallow Sea district (depth of water 0 ~ 15m).
When abyssal area operation, the large ship of usual use (drinking water more than 3.5m) erection measuring equipment carries out continuous gauging, if measuring equipment works well, weather condition license, the measurement of this part is general more smooth, but the oil consumption of large ship is comparatively large, and pollutant emission is also larger.
When the operation of Nearshore Shallow Sea district, because the drinking water of large ship cannot be carried out too deeply, and canoe (drinking water below 1m) can only be used instead carry out.And the task difficulty of shoal water zone is much larger than abyssal zone, in practical operation, there is following problem: one, canoe sets up measuring equipment more difficult; Its two, canoe generally can only operation at the incoming tide, cannot realize all weather operations; Its three, nearshore waters environment is usually very complicated: shoal, submerged reef etc. all bring very large potential safety hazard by surveying work; Its four, the field investigation person works environmental abnormality on canoe is arduous, safety cannot ensure.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of measurement type unmanned boat of automatically surveying and drawing or detect the depth of water in setting waters or submarine geomorphy situation and method of measurement.
The technical scheme that the present invention takes for the technical matters existed in solution known technology is:
Measurement type unmanned boat of the present invention, comprises following structure:
Hull is trimaran structure, forms the hardware support platform of unmanned boat, the main cabin that the inner installation space of middle main body is airtight, and both sides buoyancy aid is connected to a fixed with main body respectively;
GNSS main frame, is arranged in main cabin, measures the current location of unmanned boat;
GNSS antenna, receives GNSS signal, is connected with GNSS main frame;
Echosounder, is arranged in main cabin, measures the depth of water of unmanned boat current location;
Depth measurement transducer, if be connected with echosounder, and depth measurement transducer is positioned at below the floating line of unmanned boat;
Wireless data transmission module, is arranged in main cabin, transmission current location information and corresponding bathymetry data;
Wireless data sending antenna, is fixed on hull, is connected with wireless data transmission module.
The present invention can also adopt following technical measures:
Described measurement type unmanned boat, also comprises:
Propelling unit, is connected with both sides buoyancy aid, promotes hull and advances;
Steering hardware, is connected with both sides buoyancy aid, changes hull direct of travel;
Control setup, is arranged in above-mentioned main cabin, is connected with propelling unit with steering hardware by circuit, and accessory drive and steering hardware work, be also connected with GNSS main frame, echosounder, wireless data transmission module with timed unit;
Manipulation antenna, is connected with control setup, receives control command and control command is transferred to control setup;
Supplying cell, for each power device of unmanned boat is powered.
Described main body and buoyancy aid adopt integrated structure respectively.
Body inside, described buoyancy aid each cabin is hollow structure, and hollow structure is arranged multiple equipment compartment according to distinct device, and each equipment compartment forms mutually airtight space.
Three described hulls are connected by fastening connection piece, and the below of main body central authorities arranges removable depth measurement transducer, and install 3 d pose instrument at the center-of-gravity position of unmanned boat, 3 d pose instrument is connected with control setup.
The confined space of described each cabin is respectively by the cover plate for sealing of correspondence, and the upper cover plate central authorities of main body arrange GNSS antenna.
The memory device of backup metrical information is set in described control setup.
The method of measurement of measurement type unmanned boat of the present invention, comprises the following steps:
The coordinate of A, setting measurement area division;
B, automatically generate plan survey line according to measured zone feature, i.e. the navigation route of measurement type unmanned boat;
Control setup on C, unmanned boat receives command signal by manipulation antenna;
D, control setup control propelling unit and steering hardware work according to the command signal received, and unmanned boat is advanced by navigation route;
E, GNSS main frame knows the location information that unmanned boat is current, and by location information real-time Transmission to control setup, the Water Depth Information measuring the current location obtained also is sent to control setup by echosounder simultaneously;
Location information and Water Depth Information carry out backing up in coupling memory device by F, control setup in real time, are back to deck or unit on the bank in real time when needing by wireless data transmission module and wireless data sending antenna;
After G, unmanned boat measurement voyage completes, carry out correction of depth.
Described unmanned boat automatically generates plan survey line, according to schedule survey line and automatically navigates by water operation.
Described unmanned boat according to the instruction of survey crew adjustment course line and measuring state, records the location information of operation mapping lash ship when operation automatically when unmanned boat is started working, auto-returned after operation completes or when there are abnormal condition.
The advantage that the present invention has and good effect are:
In measurement type unmanned boat of the present invention and method of measurement, the command signal that unmanned boat obtains according to control setup carries out bathymetry to predetermined waters automatically, and automatically will measure the position coordinate Corresponding matching of bathymetric data and the measurement point obtained, by wireless data transmission module Water Depth Information and location information transmitted and back up, after measurement voyage completes, the multiple spot Water Depth Information in this waters can be obtained, and then information is gathered the depth of water situation and landform situation that draw this waters.
Accompanying drawing explanation
Fig. 1 is the structural representation of measurement type unmanned boat of the present invention;
Fig. 2 is the lateral plan of measurement type unmanned boat of the present invention;
Fig. 3 is the back view of measurement type unmanned boat of the present invention
Fig. 4 is the connection diagram of each device of measurement type unmanned boat of the present invention.
Detailed description of the invention
Referring to drawings and Examples, the present invention will be described in detail.
Fig. 1 is the structural representation of measurement type unmanned boat of the present invention;
Fig. 2 is the lateral plan of measurement type unmanned boat of the present invention;
Fig. 3 is the back view of measurement type unmanned boat of the present invention
Fig. 4 is the connection diagram of each device of measurement type unmanned boat of the present invention.
As shown in Figures 1 to 4, measurement type unmanned boat of the present invention, comprises following structure:
Hull is trimaran structure, forms the hardware support platform of unmanned boat, the main cabin that in middle main body 1, installation space is airtight, and both sides buoyancy aid 3 increases the stability of hull, mounted motor and propelling unit, also can be used as time delay battery flat;
GNSS main frame, is arranged belowdecks, and measure the current location information of unmanned boat, GNSS main frame is the device that have employed any one system in the position fixing system such as GPS, the Big Dipper, GLONASS, Galileo;
3 d pose instrument, measure attitude and the movable information of hull, 3 d pose instrument is a kind of high performance three-dimensional motion attitude measuring system, the motion sensors such as it comprises three-axis gyroscope, triaxial accelerometer, three axle electronic compasss, export the cireular frequency calibrated by embedded low-power consumption arm processor, acceleration/accel, magnetic data etc., carry out athletic posture measurement by the sensing data algorithm based on quaternion, export the zero shift 3 d pose data represented with quaternion, Eulerian angles etc. in real time; The operational method of the 3 d pose instrument in the present invention and structure all adopt existing product and technical scheme in prior art, therefore are no longer described in detail in specification sheets.
GNSS antenna 2, receive GNSS signal, be connected with GNSS main frame, GNSS antenna receives the signal that multiple navigation satellite sends, GNSS main frame resolves position coordinate according to satellite-signal, be usually method used by the positioning operation of GNSS antenna and GNSS main frame, thus omit the explanation to this algorithm;
Echosounder, be arranged in main cabin, measure the depth of water of unmanned boat current location, echosounder can also be replaced by sonar, gathered the sonar image of submarine target by sonar, the different choice usually according to the specific tasks performed by unmanned boat uses different measuring equipments;
Depth measurement transducer 4, be arranged on the bottom of main body, be connected with echosounder, when adopting sonar to detect, depth measurement transducer is corresponding is replaced by sonar projector, and in real work, change different detecting devicess according to concrete detection mission difference, depth measurement transducer is positioned at below the floating line 30cm of unmanned boat, the concrete detecting devices adopted in the present invention is all equipment used in the prior art, so be not described relevant concrete structure and operational method and illustrate;
Wireless data transmission module, arrange belowdecks, be connected with echosounder with control setup, GNSS main frame, receive the location information of the current unmanned boat that GNSS main frame and echosounder determine and bathymetry data corresponding to this observation position, and the state of unmanned boat and detecting devices or the take off data reception facilities to mapping person is sent;
Wireless data sending antenna 6, is fixed on hull, is connected with wireless data transmission module, the sending end of composition data.
Measurement type unmanned boat of the present invention, also comprises:
Propelling unit 7, is connected with hull, promotes hull and advances, adopt the screw propeller 8 of driven by Brush-Less DC motor as propelling unit in the present embodiment;
Steering hardware 9, is flexibly connected with hull, changes hull direct of travel, steering hardware and unmanned boat turn to rudder, steering hardware is arranged on the rear side of above-mentioned screw propeller, and the propelling water (flow) direction driven by changing screw propeller 8 changes the course of hull;
Control setup, is arranged in above-mentioned main cabin, carries out monitor and forecast to the work of unmanned boat, the mode of operation of detecting devices, control setup is connected by circuit with steering hardware with propelling unit, accessory drive and steering hardware work, the speed of a ship or plane of unmanned boat can be changed by the mode of operation of accessory drive, and the course of unmanned boat can be changed by the mode of operation changing steering hardware, the subsequent instructions information sent in real time in the mapping command information that the control policy of control setup is sent to when voyage starts according to mapping person and voyage, navigation circuit and mapping operation action is completed by command information, with timed unit also with GNSS main frame, echosounder, wireless data transmission module is connected with 3 d pose instrument, control setup receives the location information of GNSS Host Transfer and location information and predetermined navigation route is compared, when course deflects in time by the control correction course to steering hardware, interval measurement and the one-point measurement of each fixed point in waters can also be carried out according to the setup control echosounder of command information,
Manipulation antenna 11, be connected with control setup, control signal is also transferred to control setup by reception control signal;
Supplying cell, for each power device of unmanned boat is powered, also for propelling unit and above-mentioned DC brushless motor provide power.Supplying cell adopts chargeable super capacitor.
Hull adopts integrated trimaran structure, and the visual service condition dismounting of three each hulls and assembling, so that transport.The structure of catamaran expands the area of contact of hull bottom and the water surface, weakens the impact of stormy waves on hull, improve unmanned boat navigate by water on the water surface operation time stability, be also not easy at shoal place stranded.
Buoyancy aid 13 inside is hollow structure, and hollow structure is arranged multiple equipment compartment according to distinct device, and each equipment compartment forms mutually airtight space.Ballace can also be set in two buoyancy aids to improve the stability of hull, also extra supplying cell can be set respectively as battery flat, to improve the flying power of unmanned boat simultaneously.
Confined space in main cabin and buoyancy aid is sealed by the cover plate 15 of correspondence respectively, has both been convenient to user and has changed each device in cabin and buoyancy aid or parts and safeguard, also prevents outside water from entering in space.
GNSS antenna 2 and depth measurement transducer 4 is fixedly installed respectively above and below buoyancy aid main body midway location.Wherein GNSS antenna is arranged on the top of cover plate; and depth measurement transducer is arranged on the below of main body; depth measurement transducer be no more than position corresponding to buoyancy aid bottommost bottom; thus two buoyancy aids are played a protective role to depth measurement transducer, avoid depth measurement transducer in measurement process or damage when receiving transport.
Arrange the memory device of backup location information and bathymetric data in control setup, prevent the data packetloss because data transmission does not freely cause, user can obtain all take off data of unmanned boat in measurement voyage by the information read in memory device.
The method of measurement of measurement type unmanned boat of the present invention, comprises the following steps:
The coordinate of A, setting measurement area division;
B, automatically generate plan survey line according to measured zone feature, i.e. the navigation route of measurement type unmanned boat, can arrange multiple different measuring circuit according to actual conditions, measuring circuit is not unique;
Control setup on C, unmanned boat receives command signal by manipulation antenna;
D, control setup control propelling unit and steering hardware work according to the command signal received, unmanned boat is advanced by navigation route, as no longer needed to adjust navigation circuit in the traveling process of unmanned boat, then unmanned boat can perform current command signal completely to complete whole voyage;
E, GNSS main frame moment knows the location information that unmanned boat is current, and by location information real-time Transmission to control setup, the Water Depth Information measuring the current location obtained also is sent to control setup by echosounder simultaneously;
Location information and Water Depth Information are mated by F, control setup in real time, and back up in memory, are back to deck or unit on the bank in real time when needing by wireless data transmission module and wireless data sending antenna;
After G, unmanned boat measurement voyage completes, correction of depth can be carried out according to related specifications, the multiple different mapping chart such as two-dimentional fathogram, three-dimensional land map, bottom contour gradual change figure, 3 dimensional drawing in this waters can be obtained by the location information of correspondence and bathymetric data.
Unmanned boat automatically generates plan survey line, according to schedule survey line and automatically navigates by water operation
According to the instruction of survey crew adjustment course line and measuring state, the location information of operation mapping lash ship can be automatically recorded when unmanned boat is started working, when auto-returned unmanned boat operation completes after or when there are abnormal condition surveys and draws lash ship during unmanned boat operation.
The above, it is only preferred embodiment of the present invention, not any pro forma restriction is done to the present invention, although the present invention with preferred embodiment openly as above, but, and be not used to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, certainly the technology contents of announcement can be utilized to make a little change or modification, become the Equivalent embodiments of equivalent variations, in every case be the content not departing from technical solution of the present invention, according to any simple modification that technical spirit of the present invention is done above embodiment, equivalent variations and modification, all belong in the scope of technical solution of the present invention.
Claims (10)
1. a measurement type unmanned boat, is characterized in that, comprises following structure:
Hull is trimaran structure, forms the hardware support platform of unmanned boat, the main cabin that the inner installation space of middle main body is airtight, and both sides buoyancy aid is connected to a fixed with main body respectively;
GNSS main frame, is arranged in main cabin, measures the current location of unmanned boat;
GNSS antenna, receives GNSS signal, is connected with GNSS main frame;
Echosounder, is arranged in main cabin, measures the depth of water of unmanned boat current location;
Depth measurement transducer, is arranged on the bottom of main body, is connected with echosounder, and depth measurement transducer is positioned at below the floating line of unmanned boat;
Wireless data transmission module, is arranged in main cabin, transmission current location information and corresponding bathymetry data;
Wireless data sending antenna, is fixed on hull, is connected with wireless data transmission module.
2. measurement type unmanned boat according to claim 1, is characterized in that, also comprise: propelling unit, be connected with both sides buoyancy aid, promotes hull and advances;
Steering hardware, is connected with both sides buoyancy aid, changes hull direct of travel;
Control setup, is arranged in above-mentioned main cabin, is connected with propelling unit with steering hardware by circuit, and accessory drive and steering hardware work, be also connected with wireless data transmission module with GNSS main frame, echosounder with timed unit;
Manipulation antenna, is connected with control setup, receives control command and control command is transferred to control setup;
Supplying cell, for each power device of unmanned boat is powered.
3. measurement type unmanned boat according to claim 2, is characterized in that: main body and buoyancy aid adopt integrated structure respectively.
4. measurement type unmanned boat according to claim 3, is characterized in that: body inside in buoyancy aid each cabin is hollow structure, and hollow structure is arranged multiple equipment compartment according to distinct device, and each equipment compartment forms mutually airtight space.
5. measurement type unmanned boat according to claim 4, it is characterized in that: three hulls are connected by fastening connection piece, the below of main body central authorities arranges depth measurement transducer, and install 3 d pose instrument at the center-of-gravity position of unmanned boat, 3 d pose instrument is connected with control setup.
6. measurement type unmanned boat according to claim 5, is characterized in that: the confined space of each cabin is respectively by the cover plate for sealing of correspondence, and the upper cover plate central authorities of main body arrange GNSS antenna.
7. the measurement type unmanned boat according to claim 1 or 6, is characterized in that: the memory device arranging backup metrical information in control setup.
8. measure a method of measurement for type unmanned boat, comprise the following steps:
The coordinate of A, setting measurement area division;
B, automatically generate plan survey line according to measured zone feature, i.e. the navigation route of measurement type unmanned boat;
Control setup on C, unmanned boat receives command signal by manipulation antenna;
D, control setup control propelling unit and steering hardware work according to the command signal received, and unmanned boat is advanced by navigation route;
E, GNSS main frame knows the location information that unmanned boat is current, and by location information real-time Transmission to control setup, the Water Depth Information measuring the current location obtained also is sent to control setup by echosounder simultaneously;
Location information and Water Depth Information are carried out coupling backing up in memory by F, control setup in real time, are back to deck or unit on the bank in real time when needing by wireless data transmission module and wireless data sending antenna;
After G, unmanned boat measurement voyage completes, carry out correction of depth.
9. the method for measurement of measurement type unmanned boat according to claim 8, is characterized in that: unmanned boat automatically generates plan survey line, according to schedule survey line and automatically navigates by water operation.
10. the method for measurement of measurement type unmanned boat according to claim 9, it is characterized in that: unmanned boat adjusts course line and measuring state when operation according to the instruction of survey crew, automatically the location information of operation mapping lash ship is recorded, auto-returned after operation completes or when there are abnormal condition when unmanned boat is started working.
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| CN106167076A (en) * | 2016-09-07 | 2016-11-30 | 国家海洋局第海洋研究所 | Waterborne unmanned for data acquisition difficulty waters measures investigation platform |
| CN106741583A (en) * | 2016-12-30 | 2017-05-31 | 浙江省水利水电勘测设计院 | A kind of water delivery aqueduct untethered detects robot |
| CN106990422A (en) * | 2017-05-15 | 2017-07-28 | 上海华测导航技术股份有限公司 | A kind of automatic depth measurement in unmanned boat ocean and monitoring system |
| CN107010176A (en) * | 2017-03-20 | 2017-08-04 | 天津大学 | A kind of miniature self-service ship for intensive measurement |
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| CN115218872A (en) * | 2022-07-11 | 2022-10-21 | 广东国信工程监理集团有限公司 | Water depth measuring device for maintenance of water transport engineering channel |
| CN115806025A (en) * | 2023-02-03 | 2023-03-17 | 淄博市水利勘测设计院有限公司 | Overwater dynamic surveying and mapping unmanned ship and application method thereof |
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