CN102589531A - Underwater topography measurement boat as well as manufacturing method and measurement method - Google Patents

Underwater topography measurement boat as well as manufacturing method and measurement method Download PDF

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Publication number
CN102589531A
CN102589531A CN2012100015474A CN201210001547A CN102589531A CN 102589531 A CN102589531 A CN 102589531A CN 2012100015474 A CN2012100015474 A CN 2012100015474A CN 201210001547 A CN201210001547 A CN 201210001547A CN 102589531 A CN102589531 A CN 102589531A
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China
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radio station
equipment
surveying vessel
gps
data
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CN2012100015474A
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CN102589531B (en
Inventor
杨春长
汪长余
张秋丽
王松庆
王守春
米景跃
安丽丽
蔡冲
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TIANJIN WATER RESOURCES RESEARCH INSTITUTE
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TIANJIN WATER RESOURCES RESEARCH INSTITUTE
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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
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/30—Assessment of water resources

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Abstract

The invention provides an underwater topography measurement boat as well as a manufacturing method and a measurement method. The underwater topography measurement boat is composed of at least one measurement boat, a standard station, main manipulation equipment and remote control equipment, wherein the standard station, the main manipulation equipment and the remote control equipment are implemented and manipulated on the bank; a plurality of measurement boats can be simultaneously manipulated by the standard station, the main manipulation equipment and the remote control equipment; each measurement boat is composed of a boat body, a control system, a navigation direction control system, a positioning system, a measurement system and a communication system; the whole boat body of each measurement boat is independently composed of a boat head and a boat body by sections; the lower end part of an equipment mounting column is fixedly provided with a probe of a depth sounder; a bearing cabin of the boat body is internally provided with a data communication radio station, a GPS (Global Positioning System) radio station, the depth sounder, a storage battery pack, a power supply module and an industrial control computer; an engine is provided with a starting engine; and the starting engine is composed of an igniting device, a shutdown device and a starting and shutdown detection circuit. The underwater topography measurement boat disclosed by the invention has the advantages of scientific design, reasonable structure, simplicity in operation, convenience and flexibility, convenience for installation and detachment and convenience for transportation and transferring, so that the underwater topography measurement boat is adapted to underwater measurement of various different water areas and the automation of the underwater measurement is realized.

Description

Bathymetric surveying ship and method for making and measuring method
Technical field
The present invention relates to a kind of surveying vessel that is used for surveying open water, relate in particular to a kind of bathymetric surveying ship and method for making and measuring method.
Background technology
Emphatically big effect is brought into play in river course, reservoir, lake in urban water supply and industrial and agricultural development, also have flood control simultaneously, regulate and store, irrigate, multi-functional such as generating.The flood storage and detention basin is the important component part in the flood control works, can reduce the loss that flood brings.As time goes on, all different variation of the topography and geomorphology of river course, rural, cities and towns, reservoir, flood storage and detention basin.Under existence conditions; Previous historical data data is still used in the management of river course, rural, cities and towns, reservoir, flood storage and detention basin and flood control scheduling; These data had both been disperseed and the standard disunity, comprehensive inadequately, system, and the rationality of data also can't be investigated; Improper use for the scheduling controlling index tends to cause immeasurable loss.In order to understand fully topography and geomorphology situation of change in river course, reservoir, the flood storage and detention basin, just need carry out relevant surveying work, so that be engineering management and flood control dispatch service more scientifically and rationally.At present, underwater survey need be leased ship, and the equipment of installing and measuring carries out bathymetric survey, the corresponding increase of measurement expense, and the survey crew physical demands is bigger, and healthy coming to harm is unfavorable for the enforcement of surveying work.
Summary of the invention
Fundamental purpose of the present invention is to solve the problem that exists in the above-mentioned underwater survey exploration, and a kind of bathymetric surveying ship and method for making and measuring method are provided.
Depth of water mapping is an important content of waters applications such as river, lake, and is significant for the situation of finding out water-bed landforms.Up to now, there have been many measuring tables to be applied to depth of water mapping, comprised naval vessel and other underwater hiding-machine, positioning system, measurement sensing etc.Worldwide most of bathymetric data all comes from the naval vessel to be measured, and its metering system is the main mode of present stage large tracts of land depth of water mapping.For the depth of water mapping in river course etc., self-navigation bathymetric survey equipment is useful technology means very, but has also that cost is high, depth of water communication bandwidth is limited and problem such as Operating Complexity.
Along with measuring technique, GPS, GIS, RS technology and information science and technology high speed development, utilize 3S measuring technique and computing machine can realize work such as each regional measurement, analytical calculation, therefore also just can realize the bathymetric surveying of the water surface.
The present invention is through extensive investigation and demonstration, and surveying vessel is selected steel material for use, has developed the Ship Structure of being convenient to load and unload; The steering wheel starter device has been transformed in development, drags starting by hand and is developed into automatic starting; Steering wheel has been developed automatic stop arrangement, when surveying vessel meets special circumstances, can stop, having closed steering wheel by enforcement on the bank; The accelerator device of having transformed steering wheel becomes the auto-throttle device, has increased automatic control functional oil; Through the photoelectric coding counter, near switch and chain gearing, the realization steering handle is controlled automatically, combines GPS and gyro data again, realizes hull self-navigation control; Utilize industrial computer to realize the straighforward operation of surveying vessel, pass through RTTY to ship on the bank from the instruction of controlling of sending; Developed surveying vessel and controlled software, comprised the measurement acquisition software, GPS navigation software; Communication software, data and interface Optimization Software, ship control software; Remote control software; Through writing each function program code, realize wireless remote control self-navigation underwater survey function, can realize that the self-navigation of river course, reservoir, lake surface is measured.
The technical solution adopted for the present invention to solve the technical problems is:
Form by at least 1 surveying vessel, base station, main controlling equipment and remote control equipment; Base station, main controlling equipment and remote control equipment are controlled in the enforcement on the bank in measured waters, and base station, main controlling equipment and remote control equipment are controlled many surveying vessels simultaneously according to actual needs.
The present invention mainly is made up of base station, main controlling equipment, remote control equipment and surveying vessel, through Radio Communications Link UNICOM, when implementing to measure; Through the measuring technique design, adopt a base station, a main controlling equipment or a remote control equipment and a surveying vessel or several surveying vessel to measure, base station is fixed; Fixed point receives gps satellite signal, and sends the differential corrections data-signal to surveying vessel in real time by the GPS radio station, when surveying vessel is implemented to measure to each measuring point; Receive same gps satellite signal; And, obtaining the three-dimensional coordinate in place on the spot after resolving through GPS radio station reception base station update information, its coordinate system is the WGS84 terrestrial coordinate; Be expressed as longitude and latitude and elevation (BLH), could carry out a series of activities such as follow-up ship control, setting-out like this.
Surveying vessel is made up of hull, control system, navigation course control system, positioning system, measuring system and communication system, and the hull integral body of surveying vessel is by bow and hull is independent segmented separately constitutes the bow integral sealing; Bow top is the boat deck, and the bow leading section is most advanced and sophisticated, and the rear end integral body of bow is the plane; The leading section of bow rearward end and hull matches; Bow rear end middle part is provided with the undersea detection hole of Baltimore groove shape, and the deck of boat penetrates into the hull bottom of bow bottom from bow top in the undersea detection hole, and the rear end of bow and the front end of hull are connected to form the undersea detection hole; Be convenient to the interior installation and removal equipment erection column of exploration hole under water; Under water in the exploration hole behind the erecting equipment erection column, bow and hull be through the web member composition surveying vessel that links into an integrated entity, and the split design of bow and hull is convenient to dismounting and is transported with cutting to.
The Ship Structure of small-sized surveying vessel is divided into straddle barge and monohull usually, and catamaran sailing is relatively stable, but volume is relatively large, is to be connected by two monohull crosswise fixed to form; Monohull is common Ship Structure, has simple in structurely, is convenient to characteristics such as processing.The present invention transports back for the ease of unload down every morning water gaging and evening knocking off to move on the car; That surveying vessel must have is small-sized, light, portability, Fast Installation, the characteristics such as flying power of long period; Promptly to consider controllability, dead weight capacity, the stability of hull, also will consider the installation of measuring sonde.Adopt bow and the split type monohull version of hull, promptly bow and hull separate Design and Machining, and be independent separately, is connected into integral body with snap close during measurement.
Surveying vessel is the stronger system of real-time, needs data message through sensor acquisition, and data message is handled, and controlled amount is controlled driving arrangement and course topworks automatically.External unit is main with the RS232 asynchronous serial port, at least 6 serial ports of industrial control computer, and have higher arithmetic speed and well data acquisition, processing power and interface interrupt capabilities.
Equipment erection column integral body is column; The middle part of equipment erection column is fixedly mounted in the undersea detection hole; Equipment erection column integral body is column, and the equipment erection column runs through the undersea detection hole, and the bottom in undersea detection hole is passed in the bottom of equipment erection column; The top ends of the bottom of equipment erection column fixedly installs the sounder probe of measuring system; The sounder probe transmits under water and receives the signal that measured underwater reflection returns, and the sounder probe is connected with sounder through lead, and the sounder probe is directly surveyed landform, landforms and the degree of depth at the measured bottom under water along measuring section line.
The water surface of the present invention is partly measured and is adopted double frequency underwater bathy metry appearance equipment to measure with the metering system that GPS equipment combines; Bathymetric surveying instrument is made up of sounder probe (being sensor) and sounder main frame; Sounder probe is launched under water and is received the reflected sound wave signal; Sound wave transmission speed in water is constant, through record sound wave emissions and time of reception, then can calculate the depth of water.For each measuring point underwater 3 D coordinate, position by GPS, the bathymetric survey appearance is measured the depth of water of each anchor point, records the planimetric position and the water level elevation of depth of water point through gps position measurement, then can calculate the river bed elevation.Sounder can use separately and carry out bathymetric survey, also can be measured by computer realization through the RS232 serial ports.When connecting the industrial control computer measurement, need be configured, make it consistent with the industrial control computer interface protocol, like this, industrial control computer could be gathered the sounder data.
The top in undersea detection hole is passed in the upper end of equipment erection column; The installation and control system keeps away the barrier appearance on the top of equipment erection column; Keeping away the barrier appearance is connected with industrial control computer through circuit; Keep away the barrier appearance and survey the barrier in surveying vessel the place ahead and the distance between barrier and the ship, prevent that fore from colliding object waterborne, and the navigation of the data information transfer that records to industrial control computer adjustment surveying vessel.
Being measured as the master automatically, intelligent also is one of the index of surveying vessel design during surveying vessel of the present invention work, for the fore that prevents surveying vessel collides object waterborne, like barriers such as bridge piers, installs at bow and to keep away the barrier appearance.Keep away the barrier appearance and send and accept ultrasound wave from probe, after the place ahead runs into barrier, this sound wave of barrier reflection; After probe is received reflection wave, calculate by keeping away the barrier appearance:, calculate the hull of surveying vessel and the distance between the barrier by being transmitted into the time that reflects; Not only detect the barrier in the place ahead; Also measure distance, realize the barrier in detecting ship the place ahead, different distance is made corresponding alarm and automatic obstacle-avoiding go or report to the police and bring to.
The GPS receiver antenna of the top ends mounting positioning of equipment erection column; The GPS receiver antenna is connected with GPS equipment through lead; Receive the information of Aerospace Satellite constellation navigation positioning system; Base station is the gps signal of fixing fixed point reception satellite constellation, and surveying vessel receives the base station update information by the GPS radio station, resolves and obtains the three-dimensional coordinate in place on the spot.
GPS radio station antenna, the data communication radio station antenna of communication system and the gyroscope of control system of fixed installation positioning system on the deck of bow; GPS radio station antenna is connected with the GPS radio station through lead; Through the information of GPS radio station reception base station correction positioning system, resolve and obtain the three-dimensional coordinate in place on the spot.
Data communication radio station antenna is connected with the data communication radio station through lead; The data communication radio station is connected with industrial control computer through circuit; Be connected with base station through data link; Industrial control computer receives the instruction that main controlling equipment sends, the numerical information between round-trip transmission master's controlling equipment and the industrial control computer.
The GPS subscriber equipment contains radio station, antenna, handbook (measuring terminals), data processing software and terminal device (like computing machine) thereof etc. by the GPS receiver and forms.The GPS receiver can capture the signal by the selected satellite to be measured of certain satellite altitude cutoff angle; The operation of tracking satellite; And signal exchanged, amplifies and handle; Through computing machine and corresponding software, resolve, net adjustment again, obtain the three-dimensional coordinate of GPS receiver center (survey station point) through baseline.
The present invention mainly is made up of base station, main controlling equipment, remote control equipment and surveying vessel, through Radio Communications Link UNICOM, when implementing to measure; Through the measuring technique design, adopt a base station, a main controlling equipment or a remote control equipment and a surveying vessel or several surveying vessel to measure, base station is fixed; Fixed point receives gps satellite signal; And send the differential corrections data-signal to surveying vessel in real time by the GPS radio station, when surveying vessel is implemented to measure to each measuring point, receive same gps satellite signal; And, obtain the three-dimensional coordinate in place on the spot after resolving through GPS radio station reception base station update information.
The gyroscope of the leading section fixed installation control system on bow deck; Gyroscope is connected with industrial control computer through circuit; Gyroscope is monitored navigation direction, the side of surveying vessel in real time and is shaken and just shake; For the navigation course control system of industrial control computer provides the aeronautical data of surveying vessel, implement resolving of real-time attitude matrix, guarantee that surveying vessel goes according to leading line.
Main direction and the attitude of relying on of hull navigation needs to be equipped with gyroscope and attitude appearance, confirms not drift of course angle, and three-dimensional acceleration, angular velocity and big geomagnetic field intensity through checking are provided simultaneously.The main application: motion detection, inertial navigation system, human body attitude is measured, aspect monitoring, tachometric survey etc.The fore of surveying vessel of the present invention is equipped with gyroscope (MTi system), and the data message whether course angle of exporting in real time drifts about provides three-dimensional acceleration, angular velocity and big geomagnetic field intensity through checking simultaneously.The gyroscope of installing is come in the data aggregation of each unit; Accurately measure the rotatablely move angular speed and the line acceleration of motion information of surveying vessel; Deliver to then and carry out real-time attitude matrix in the industrial control computer of surveying vessel and resolve, the acceleration information of accelerometer measures in the inertial navigation system to vertical, the transverse axis of surveying vessel, the motion reference coordinate system that is transformed into navigation usefulness is axial through attitude matrix; And then carry out navigation calculation; And from the relevant element of strapdown matrix, extract the attitude angle of surveying vessel, and carry out data processing, draw the real motion attitude of object.
The present invention has two kinds of working methods: 1, gyro is decided the working method of appearance, the information that does not adopt magnetometer fully by little inertia system independently, confirm the attitude of carrier, utilize the angular speed of gyro output to combine the posture renewal algorithm to resolve attitude angle; 2, the mode of integrated attitude determination; Adopt gyro, accelerometer and magnetometer combination to confirm the attitude information of carrier through Kalman filtering; Relying on gravity vector and ground magnetic vector is the angle drift after reference information has effectively been revised the gyro integration, has obviously improved the precision of boat appearance system.
Hull integral body is carries the ship shape, is provided with on the hull and carries the cabin, and the stern of the tail end of hull is provided with the driving mechanism of navigation course control system through installation clip; The navigation of drive mechanism surveying vessel; The hull hatchcover is installed on the top of hull, and hull hatchcover and hull match, and the hull hatchcover blocks protection and carries the equipment in the cabin; Solar panel is installed at the top of hull hatchcover; Solar panel covers the top of hull hatchcover, and solar panel is connected with battery pack through circuit, carries power supply to battery pack.
Surveying vessel is the stronger system of real-time; Through the data message of each sensor acquisition, data message is handled, obtain controlled quentity controlled variable; Modular construction is adopted in system's control; Many interface arrangement, industrial control computer are not established interfaces such as direct I/O mouth, AD sampling, PWM output, and IO module, AD module and PWM output, counting module are realized data acquisition and control more widely to adopt stability and applicability; Gather GPS, the depth of water, distance measuring signal through interface, realize the automatic control of starting, shutdown, turning etc. through connection terminal.The workplace of surveying vessel all is waters enforcement surveying works in the open, and the solar panel at hull hatchcover and top not only plays the effect of protection, and the solar panel at top also plays heat insulation effect, and cooling protection carries the equipment in the cabin.
Carry cabin internal fixation installation data communication radio station, GPS radio station, sounder, GPS equipment, battery pack, power module and industrial control computer; The GPS radio station of positioning system is connected with the industrial control computer of control system through circuit with GPS equipment; Implementing the location controls; The sounder of measuring system is connected with the industrial control computer of control system through circuit; Implement to measure and control; The data communication radio station of communication system is connected with the industrial control computer of control system through circuit; Industrial control computer links controlling of setting, transfer data information, reception instruction and the verification locator data of implementing communication, measurement data through data communication radio station and main controlling equipment and remote control equipment, industrial control computer link the information of enforcement correction positioning system through GPS radio station and base station, resolves the three-dimensional coordinate of being put on the spot.
GPS of the present invention measures and adopts world geodetic system WGS84, and with configurator GP configuring S receiver, data-out port 2 is the RS232 serial ports; Agreement is same as hyper terminal; The data output frequency is 10Hz, and data output format GGA is after communication link is set up; Test figure communication, this moment, industrial control computer was received gps data in real time.
The present invention adopts Gauss projection 3 degree band, for of the conversion of WGS84 coordinate to local coordinate system, adopt 4 parameter ratio juris be earlier with the WGS84 coordinate projection to the plane, and then carry out two conversions between the plane right-angle coordinate.4 parametric methods (two translation parameterss, 1 rotation parameter, 1 scale ratio) can obtain the elevation under the local height datum simultaneously unlike 7 parametric method that kind; Altitude figures needs independent process of fitting treatment; But relative 7 parametric methods, data processing is easy relatively, and precision is higher; So the data processing of surveying vessel of the present invention adopts four parametric methods, elevation adopts quadric method.
Battery pack is connected with data communication radio station, GPS radio station, sounder, the parallel connection of GPS equipment through circuit with power module, and power module Control Allocation battery pack is supplied with the power supply of data communication radio station, GPS radio station, sounder, GPS equipment.
Surveying vessel control system and measuring equipment all adopt the battery pack power supply, and the corresponding supply voltage with the power supply of instrument of different equipment is different, and output power is different, and plurality of groups of storage batteries power supply of the present invention is to satisfy different requirement.The starting current of surveying vessel on-hook is relatively large, the shared accumulator in sparking, steering wheel and radio station.Each module is had relatively high expectations to power supply, the shared accumulator of module and sensor.Industrial control computer is had relatively high expectations to voltage stability, and voltage instability causes easily restarts, and industrial control computer is used an accumulator separately, and fathometer uses powered battery separately, and GPS is equipped with powered battery.
The cabin external application installation clip of stern is installed the driving mechanism of the surveying vessel of navigation course control system; The top of driving mechanism is engine; The bottom of driving mechanism is drive unit under water; The top ends of drive unit is installed screw propeller under water, through operation driving surveying vessel the navigating by water along leading line and measurement section line in measured waters of driving mechanism.
Surveying vessel of the present invention adopts the external hanging type gasoline engine, is installed in stern with installation clip, is power source with the fuel engines; The opertaing device more complicated need install starting, stop device additional, the size of control throttle; Realize the speed that surveying vessel goes, it is strong to hold the boat ability, uses fuel convenient; Sun power is as auxiliary power source, and common small-sized fuel oil machine outside is with manually-operated, and controlling small-sized fuel oil machine outside does not automatically also have approved product.Surveying vessel carries generator, power supply unit and ignition coil and is used for realizing operate as normal, carries flameout switch, needs manually-operated, when emergency condition takes place, pulls out flameout switch, and surveying vessel is ceased fire.The present invention is connected in parallel through the switch contact and the flameout switch of relay, realizes the flame-out and operation that brings to of robot brain device.The topworks of surveying vessel navigation direction is a steering wheel, and surveying vessel is the servomechanism of a real-time, and the real-time adjustment of steering wheel is the condition precedent that surveying vessel can move automatically.
Starter motor is installed on the engine; Starter motor is made up of portfire, flameout switch and startup misfire detection circuit; Engine adopts the electricity sparking to start, and starter motor is connected with industrial control computer through circuit, and starter motor is accepted the instruction startup of industrial control computer or killed engine; Main controlling equipment or remote control equipment pass through the data communication radio station to the industrial control computer issuing command; Whether flame-out the shutdown or the ignition trigger engine starts misfire detection electric circuit inspection engine and starts behind the starting engine, do not start and continue to start.
The output terminal of engine is connected with the input end of reductor; Reductor increases output torque and the stability that improves rudder for ship; The output terminal of reductor is connected with an end of transmission shaft, and the other end of transmission shaft is connected with the screw propeller of drive unit end under water.
The engine of surveying vessel of the present invention adopts electronic starting, and can Long-distance Control start, and in the water area survey process, occurs flame-out if measure surveying vessel; Can pass through the communication radio station issuing command, ignition start is opposite again; In a single day surveying vessel runs out of steam, and has the danger of toppling, and causes heavy losses.The electricity starting slow-speed of revolution, large-torque electrical machine through driving wheel footpath proportioning, are controlled starter relay through command program by industrial computer, realize the remote auto starting.Surveying vessel carries generator, power supply unit and ignition coil and is used for realizing operate as normal, carries flameout switch, and the present invention is connected in parallel through the switch contact and the flameout switch of relay, realizes the flame-out and operation that brings to of robot brain device.The steering wheel of surveying vessel adopts motor to add deceleration system, increases output torque, improves the stability of rudder for ship.
Incorporate throttle servo is installed on the engine; The throttle servo drives with throttle and is connected; The throttle servo is regulated the throttle driving throttle is implemented to strengthen or reduce volume read-out; The adjustment headway, the throttle servo is connected with industrial control computer through circuit, accepts the speed of the instruction adjustment surveying vessel navigation of industrial control computer issue.
The present invention regulates accelerator device automatically and realizes through professional servo, and the throttle servo is to constitute by hole clipping, control IC circuit board, coreless motor, transmission gear and position detector are installed, and regulates accelerator device automatically.Send (PWM) signal by the industrial computer control module and give the throttle servo, judge rotation direction via the IC on the circuit board, drive the coreless motor again and begin to rotate, see through reduction gearing power is reached swing arm, swing arm is connected with the throttle valve, control throttle size.Simultaneously send signal back to, judge whether to arrive the location by position detector.Position detector is exactly variable resistor in fact, and resistance value also can change thereupon when the throttle servo rotates, and just can be known the angle of rotation by detection resistance value.Servo motor is that fine copper wire is wrapped on three utmost point rotors, when the electric current flowing through coil, just can produce magnetic field, with the magnet generation repulsive interaction of rotor periphery, the acting force that rotates.According to physics principle, the moment of inertia of object is directly proportional with quality, the rotating mass big object of healing, and required acting force is also bigger.Rotating speed is fast, power consumption is little in order to ask for the throttle servo, so fine copper wire is wound in hollow circular cylinder as thin as a wafer, forms five utmost point hollow rotors that weight is extremely light, and magnet is placed in the right cylinder, Here it is coreless motor.The integrated accelerator servo of installing on the surveying vessel is used for Throttle Opening Control, direct current 6V power supply, and pwm control signal is the signal of 100-200Hz, adopts the pwm control signal of 100Hz, recently regulates the throttle size of engine through the adjustment duty.
Engine and the whole Rotate 180 of drive unit under water Zero Operation; One end of course control lever and fixed are installed, and course control lever integral body is shaft-like, on the control lever of course slideway is set; The slide bar web member is installed on the control lever of course; The slide bar web member moves back and forth along the slideway on the control lever of course, the slide bar web member with turn to the middle part of chain drive-belt to be connected to a fixed, the slide bar web member is together with engine and the integral body of drive unit under water Rotate 180 Zero Operation is through slide bar web member UNICOM's driving mechanism and course topworks.
Yaw rudder has only realizes control automatically; Surveying vessel could be realized control automatically; Surveying vessel of the present invention is the servomechanism of a real-time, and the real-time adjustment of steering wheel is the condition precedent that surveying vessel can move automatically, and the topworks of surveying vessel navigation direction is a steering wheel.The steering wheel of surveying vessel adopts motor to add deceleration system, increases output torque, improves the stability of rudder for ship.
The chain drive-belt that turns to of course of the present invention topworks is reciprocal linear running, the engine of driving mechanism and under water drive unit be whole 180 Zero Rotating operation, rudder control part and gasoline engine are positioned on together, and gasoline engine is installed in quarter, and the rudder control partly is installed on the quarter lateral wall, links to each other with steering handle.Steering wheel operate to semicircle rotation mode, rudder control integral mechanism is the rectilinear motion of chain-type, so, utilize chain to connect the tune control of turning round that sliding bar mechanism is realized ship.The bridge circuit that the driving circuit of steering wheel adopts relay to form through actuating of relay control motor positive and inverse, adopts often opening on the same relay, normally closed electric shock, avoids the generation of short-circuit conditions.
The quarter of hull is installed the course topworks of navigation course control system; Course topworks by carrier bar, fixedly chain pitch wheel, turn to chain drive-belt, photoelectric counter and 3 to form near limit switch; It is corresponding with the engine of driving mechanism that carrier bar is installed in the stern place; The both ends of carrier bar fixedly install fixedly chain wheel respectively; Two fixedly on the chain pitch wheel around turning to chain drive-belt, turn to chain drive-belt and two fixedly chain pitch wheel match, through driven by motor reductor drive fixing chain pitch wheel; Fixedly chain pitch wheel drives and turns to chain drive-belt to constitute reciprocal linear running; Motor is connected with industrial control computer through circuit, and motor is accepted the instruction of industrial control computer and implemented reciprocal linear running, and the rotating operation track of driving mechanism moves in the reciprocal linear running track scope of chain drive-belt.
Course topworks is installed together with driving mechanism, and driving mechanism is installed on the quarter lateral wall, and course topworks is installed on the quarter carrier bar, is connected with driving mechanism through the course control lever.The control of yaw rudder is inseparable with drive unit, according to the machine outside propulsion system of selecting, and the chain gearing that yaw rudder of the present invention adopts the reductor driving shaft to connect.The rudder control partly is the integrated design, the convenient installation.The motor drives chain movement of control rudder, rudder for ship rotates and realizes turning to of surveying vessel thereby chain is rotationally connected.Driving mechanism of the present invention operate to semicircle rotation mode; Course topworks is the rectilinear motion of chain-type; Utilize chain to connect the control of turning round, reversing end for end that the slide bar web member is realized surveying vessel, the operation of the reciprocal linear running track of chain drive-belt comprises the operation of the rotating operation track of driving mechanism.
The parallel installation photoelectric counter of a side and 3 that turn to chain drive-belt are near limit switch; 3 near limit switch equidistance arrangement setting; Photoelectric counter is connected with industrial control computer through circuit near limit switch with 3, turns to the numerical information of chain drive-belt running status to the industrial control computer transmission.
Claim static position switch again near switch; Can accomplish Stroke Control and position limitation protection; Still a kind of pick-up unit of non-contact type is used to detect accessory size and tests the speed etc., also can be used for the automatic linking of frequency conversion counter, variable-frequency pulse generator, level control (LC) and job sequence etc.
Turn to the both ends of a side of chain drive-belt to be provided with respectively near limit switch 1 (16-1) with near limit switch 3 (16-3); Near limit switch 1 (16-1) and near limit switch 3 (16-3) to the course control lever implement Stroke Control and spacing and measure turn to chain drive-belt back and forth operation speed, calculate and turn to the back and forth quantity of the pitch of operation of chain drive-belt, 180 of the engine of driving mechanism Zero The rotating operation track is included in the track of the reciprocal linear running that turns to chain drive-belt of course topworks; The top ends that is installed in the slide bar web member on the engine is aimed near limit switch 1 (16-1) or near limit switch 3 (16-3); The left steering of surveying vessel or right turn have arrived the limit; Implement to report to the police to industrial control computer near limit switch 1 (16-1) or near limit switch 3 (16-3), the ship's head is measured in industrial control computer adjustment in time after data processing.
The navigation direction of surveying vessel realizes control automatically, and surveying vessel could be realized control automatically, and the present invention realizes that it is foundation that accurate rudder control leans on the rudder controlled position to detect, rudder position detection employing photoelectric counter and near switch.Photoelectric counter is the infrared pulse sensor for countering, in conjunction with the absolute position of confirming rudder for ship near switch.The infrared pulse sensor for countering is Fibre Optical Sensor and infrared pulse counter, and principle is luminotron Column being luminous of chain per tooth cutting, and counter detects pulse negative edge change frequency, and the record number, and then record value is chain and rotates the number of teeth.Error occurs for fear of counter, cause ship, on rudder control travel paths, installed three evenly distributedly,, guarantee that the control of rudder position is correct in order to the counts corrected error near switch to out of control.
Be provided with near limit switch 2 (16-2) at limit switch 1 (16-1) with near the middle of limit switch 3 (16-3); Near limit switch 2 (16-2) to the course control lever implement Stroke Control and spacing and measure turn to chain drive-belt back and forth operation speed, calculate and turn to the back and forth quantity of the pitch of operation of chain drive-belt; The playback of course control lever top ends aim near limit switch 2 (16-2) then photoelectric counter and 3 restart log data information near the limit switch data zero clearing, to the course control lever implement Stroke Control and spacing and measure turn to chain drive-belt back and forth operation speed, calculate turn to chain drive-belt back and forth the pitch of operation quantity and to the industrial control computer transmitting data information.
Turn to an end of chain drive-belt one side that photoelectric counter is set; Photoelectric counter is aimed at and is turned to chain drive-belt, turns to the reciprocal linear running of chain drive-belt, turns to the bearing pin of chain drive-belt to cut the light beam that luminotron sends; The Column being luminous that photoelectric counter luminotron of every cutting sends then writes down a number; Institute's numerical values recorded is to turn to the back and forth quantity of the pitch of operation of chain drive-belt, and to the industrial control computer transmitting data information, for fear of the error of photoelectric counter; Through 3 near limit switch counts corrected error, guarantee correct control survey ship's head.
It is foundation that the accurate course of the present invention topworks is detected with the rudder controlled position, and the detection of rudder position is adopted photoelectric counter and near switch.Photoelectric counter is the infrared pulse sensor for countering, in conjunction with the absolute position of confirming rudder for ship near switch.The infrared pulse sensor for countering is Fibre Optical Sensor and infrared pulse counter, luminotron Column being luminous of chain per tooth cutting, and counter detects pulse negative edge change frequency, and the record number, and record value is chain and rotates the number of teeth.Error occurs for fear of counter, cause ship, on rudder control travel paths, installed three evenly distributedly,, guarantee that the control of rudder position is correct in order to the counts corrected error near switch to out of control.
The control of the direction of course topworks is inseparable with driving mechanism, the chain gearing that course of the present invention topworks adopts the reductor driving shaft to connect.The direct motor drive in control course is chain pitch wheel fixedly, and fixedly chain pitch wheel drives the chain straight reciprocating motion, and rudder for ship rotates and realizes turning to of surveying vessel thereby chain is rotationally connected.
Driving mechanism of the present invention operate to semicircle rotation mode, course topworks is the rectilinear motion of chain-type, utilizes chain to connect the tune control of turning round that sliding bar mechanism is realized ship.The bridge circuit that the driving circuit of course topworks adopts relay to form through actuating of relay control motor positive and inverse, adopts often opening on the same relay, normally closed electric shock, avoids the generation of short-circuit conditions.
Adopt IO module, AD module, PWM output and counting module to realize data acquisition and control in the industrial control computer; The IO module is gathered the data message near limit switch 1 ~ 3 (16-1 ~ 3); Give industrial control computer data information transfer; Through the detection of position signalling, industrial control computer sends instructions after data processing and starts or kill engine and adjust the course, and industrial control computer is given main controlling equipment through data communication radio station real-time Transmission.
The AD module is gathered engine data information; Give industrial control computer data information transfer; Through the detection of position signalling, industrial control computer sends instructions after data processing and starts or kill engine and adjust the course, and industrial control computer is given main controlling equipment through data communication radio station real-time Transmission; On the main controlling equipment display screen is set, shows the data message in the measuring process.
PWM output and counting module are gathered the data message of photoelectric counter; Give industrial control computer data information transfer; Detection through position signalling; Industrial control computer after data processing, send instructions operation and the headway of control survey ship of adjustment engine, industrial control computer is given main controlling equipment through data communication radio station real-time Transmission.
Industrial control computer through circuit and GPS equipment, GPS radio station, data communication radio station, sounder, gyroscope, keep away barrier appearance, the starter motor of engine and the throttle servo of engine and be connected.Obtain from the operation interface of the display screen of main controlling equipment setting and to show flight path, the parameter of sensor, the conversion of reading slotted line, reading Loft Line and gps coordinate, can implement parameter setting and data access through operation interface.
Surveying vessel of the present invention is the stronger system of real-time, needs information through each sensor acquisition, and useful information is handled, and obtains controlled quentity controlled variable, and driving mechanism and course topworks are controlled automatically.Industrial control computer of the present invention has adopted three modules to realize data acquisition and control; Be respectively Altay DAM-3024D (IO module), DAM-3058R (AD module) and great lattice i-7088 (PWM output and counting module); The surveying vessel working environment is more abominable; Working temperature and humidity are higher, and industrial control computer adapts to hot environment, and the application scenario is extensive.
External unit is main with the RS232 asynchronous serial port all, and industrial control computer is gathered gps data, also needs GP configuring S serial port communicating protocol, makes it consistent with the industrial control computer serial ports.With configurator GP configuring S receiver, data-out port 2 is the RS232 serial ports, and agreement is same as hyper terminal; The data output frequency is 10Hz, and data output format GGA is after communication link is set up; Test figure communication, this moment, industrial computer can be received gps data in real time.
The base station on the bank in measured waters is made up of GPS equipment, GPS receiver antenna, GPS radio station and GPS radio station antenna; The GPS receiver antenna is connected with GPS equipment through lead; GPS equipment links with satellite constellation through data link, obtains GPS information, and GPS equipment is connected with the GPS radio station through circuit; GPS radio station antenna is connected with the GPS radio station through lead; The GPS equipment of base station and GPS receiver antenna are the gps signal of fixing fixed point reception satellite constellation, and surveying vessel passes through the numerical information that the GPS radio station receives the gps signal correction gps signal of base station, resolves the three-dimensional coordinate of being put on the spot.
The present invention sets base station on the coast, and as the base station reception satellite constellation gps data information of fixing fixed point, GPS measures and adopts world geodetic system WGS84.Receive satellite constellation gps data information through base station correction surveying vessel, surveying vessel receives that error information in time revises in real time, with the precision that guarantees that surveying vessel is measured.With configurator GP configuring S receiver, data-out port 2 is the RS232 serial ports, and agreement is same as hyper terminal; The data output frequency is 10Hz, and data output format GGA is after communication link is set up; Test figure communication, industrial control computer is received gps data simultaneously in real time.
The remote control equipment on the bank in measured waters is made up of remote operation console, data communication radio station; The data communication radio station is connected with remote operation console through circuit; The data communication radio station is connected with data communication radio station antenna through lead; Control navigation, course, the speed of a ship or plane, the setting-out signal of surveying vessel through remote operation console through the data communication radio station, along leading line with measure section line and implement bathymetric survey, GPS measurement, range finding, warning numerical information.
The present invention's remote control equipment and main controlling equipment on the bank all can realize straighforward operation, when the step relative complex of measuring operation, then uses remote control equipment to control measurement; Remote control equipment is directly controlled surveying vessel through the data communication radio station and is implemented underwater survey; Surveying vessel is realized directly manually control, and obtain relevant information, be connected data radio with the remote operation platform through display; Directly control by RPB, realize starting, stop, the operation of craspedodrome, turning, acceleration-deceleration.Remote control equipment is realized the handcontrolled manipulation surveying vessel, controls navigation, course, the speed of a ship or plane of surveying vessel from the remote operation platform through the data communication radio station, along leading line with measure section line and implement surveying work.
Remote control equipment is based on the manually operating means of control of surveying vessel; Be connected with host computer data communication radio station the remote control operation bench through the RS232 Serial Port Line; Use the button sending controling instruction; The control panel that is equivalent to host computer, the LCD LCD that the remote control operation bench carries shows the data that the surveying vessel slave computer is uploaded in real time.
The main controlling equipment on the bank in measured waters is made up of main control device, data communication radio station; The data communication radio station is connected with main control device through circuit; On the main control device display screen is set; Show the data message in the measuring process, the data communication radio station is connected with data communication radio station antenna through lead, and the leading line and measurement section line of surveying vessel is set through the data communication radio station through main control device; Reception sound the depth of the water data, gps measurement data, measuring distance data are revised the error that actual measurement occurs.Obtain the parameter that shows flight path, sensor, read the conversion of measuring section line, reading Loft Line and gps coordinate from the operation interface of the display screen of main control device setting, can implement parameter setting and data access through operation interface.
The data communication radio station of the present invention main on the bank controlling equipment data communication radio station and remote control equipment is a host computer, and the data communication radio station of surveying vessel is a slave computer.The present invention's main controlling equipment and remote control equipment on the bank all can be realized straighforward operation; Main controlling equipment is realized self-navigation measurement (comprising the setting out survey section line) from main control device planning survey ship path; Set coordinate plan point on the bank, set the coordinate plan point in the water, the setting navigation line; The setting measurement section line is formulated corresponding program.Surveying vessel is implemented to go according to the program of setting, and is gone automatically according to Loft Line by programmed control, regulates actuator continuously according to actual conditions, guarantees needed speed, and program is regulated surveying vessel left-right rotation and tune continuously, up to desired position and direction.
The whole sectional making of the hull of surveying vessel; Adopt metal material or glass-reinforced plastic material, independently be made into bow and hull separately, the rearward end of bow and the leading section of hull match; The bow formation surveying vessel in aggregates that is connected with hull; Under water in the exploration hole behind the erecting equipment erection column, bow and hull are through the web member formation surveying vessel that links into an integrated entity, and the dismounting easily of bow and hull is transported with cutting to.
Usually making hull material has several kinds in rubber, timber, metal, fiberglass etc., generally selects metal material or glass-reinforced plastic material, and these two kinds of material weight are light, are convenient to processing.But characteristics such as it is solid, light and handy, anticorrosion, wear-resisting that metal material has more, metal heat-conducting characteristic also capable of using reduces cabin temperature, makes equipment works such as ship-borne equipment such as industrial control computer more reliable.
The present invention adopts bow and the split type monohull version of hull, and promptly bow and hull separate Design and Machining, and is independent separately, is connected into integral body with snap close during measurement.
The bow integral sealing is made; Bow is the fore shape, and bow top is the boat deck, and the bow leading section is most advanced and sophisticated; The rear end integral body of bow is the plane; The leading section of bow rear end and hull matches, and bow rear end middle part is made into the undersea detection hole of Baltimore groove shape, and the deck of boat penetrates into the hull bottom of bow bottom from bow top in the undersea detection hole.
Monohull is common Ship Structure, has simple in structurely, is convenient to characteristics such as processing.The present invention adopts bow and the split type monohull version of hull, and promptly bow and hull separate Design and Machining, and is independent separately, is connected into integral body with snap close during measurement.
Equipment erection column integral body is column; The middle part of equipment erection column is installed in the undersea detection hole, and the middle part of equipment erection column and undersea detection hole match, and the equipment erection column runs through the undersea detection hole; The boat bottom that the bow bottom is passed in the undersea detection hole is passed in the bottom of equipment erection column; The top ends of the bottom of equipment erection column is installed the sounder probe, and the sounder probe is connected sounder employing double frequency underwater bathy metry appearance through lead with sounder on being installed in hull.
The present device erection column is one of major equipment of surveying vessel; Install the sounder probe of sounder in equipment erection column lower tip portion; Sounder probe is launched under water and is received the reflected sound wave signal; Sound wave transmission speed in water is constant, through record sound wave emissions and time of reception, then can calculate the depth of water.
Bathymetric surveying instrument is made up of sounder probe and sounder, and equipment such as underwater survey employing double frequency underwater bathy metry appearance are measured with the metering system that GPS equipment combines.The sounder probe is launched under water and is received the reflected sound wave signal, and its frequency is 33/210kHz, because sound wave transmission speed certain (v=1500m/s) in water through record sound wave emissions and time of reception (t), then can be calculated the depth of water (h=vt/2).Each measuring point underwater 3 D coordinate is positioned by GPS, and sounder is measured the depth of water of each anchor point, records the planimetric position and the water level elevation of depth of water point through gps position measurement, then can calculate water-bed elevation.
The boat deck that bow top is passed in the undersea detection hole is passed in the upper end of equipment erection column, on the top of equipment erection column the installation and control system keep away the barrier appearance, keep away the barrier appearance and adopt ultrasonic sensor, keep away the barrier appearance and be connected with industrial control computer through circuit.
During surveying vessel of the present invention work to be measured as the master automatically; Intelligent also is one of the index of surveying vessel design; When sampling automatically, might run into barriers such as bridge pier; Aboard ship the fore position is installed and is kept away barrier appearance (being distance measuring sensor), the distance of the barrier in detecting ship the place ahead and barrier and ship.The barrier ultrasonic sensor of keeping away of surveying vessel is launched ultrasound wave in real time; When running into barrier, the barrier reflection supersonic wave is after sensor receives reflection wave; Calculate required time; Then distance is implemented in the barrier in fore detecting ship the place ahead between velocity of wave takes the opportunity, and the industrial control computer of surveying vessel can be made corresponding alarm and automatic obstacle-avoiding to different distance and go or report to the police and bring to.
The GPS receiver antenna is installed by upper end portion at the equipment erection column; The GPS receiver antenna is connected with GPS equipment through lead; GPS equipment adopts Configurator GP configuring S receiver, and data-out port 2 is the RS232 serial ports, and agreement is same as hyper terminal; The data output frequency is 10Hz, data output format GGA.
The present invention installs the GPS receiving antenna in equipment erection column top ends; Be convenient to the gps signal that surveying vessel receives satellite constellation, the GPS subscriber equipment contains radio station, antenna, handbook (measuring terminals), data processing software and terminal device (like computing machine) thereof etc. by the GPS receiver and forms.The GPS receiver can capture the signal by the selected satellite to be measured of certain satellite altitude cutoff angle; The operation of tracking satellite; And signal exchanged, amplifies and handle; Through computing machine and corresponding software, resolve, net adjustment again, obtain the three-dimensional coordinate of GPS receiver center (survey station point) through baseline.
The GPS radio station antenna and the GPS receiver antenna of fixed installation positioning system are connected with GPS equipment through lead on the deck of bow.
Surveying vessel of the present invention resolves and obtains the three-dimensional coordinate in place on the spot through the information of GPS radio station reception base station correction positioning system.
The data communication radio station antenna of fixed installation communication system on the deck of bow, data communication radio station antenna is connected with the data communication radio station through lead, and the data communication radio station is connected with industrial control computer through circuit.
The following biography of instruction, navigation, setting-out signal etc. is mainly accomplished in the data communication radio station of surveying vessel of the present invention, also accomplishes the upwards transmission of data such as the depth of water, GPS measurement, range finding, warning.
The gyroscope of fixed installation control system on the deck of bow, gyroscope adopt the little inertia boat of MTi appearance system, and gyroscope is connected with industrial control computer through circuit.
The navigation of surveying vessel will be confirmed direction and attitude, and the present invention is equipped with gyroscope at the leading section on the bow deck of surveying vessel, installs the system (AHRS) in miniature measure attitude and course; Internal processor is low in energy consumption, and whether the course angle of output drifts about, and the three-dimensional acceleration through checking is provided simultaneously; Angular velocity and big geomagnetic field intensity; Be responsible for coming in the data aggregation of each unit, and handle, thereby draw the real motion attitude of object.Detect multiple motion in real time, and link to each other, also can pass through the Bluetooth technology wireless connections, import data into real-time software and processing with PDA or PC.
Hull integral body is carries the ship shape; Hull adopts metal material or glass-reinforced plastic material, and hull leading section integral body is the plane, and the leading section of hull and the rearward end of bow match; Be provided with on the hull and carry the cabin; Carry cabin internal fixation installation data communication radio station, GPS radio station, sounder, GPS equipment, battery pack, power module and industrial control computer, data communication radio station, GPS radio station, sounder, GPS equipment are connected with industrial control computer through circuit, and power module is connected with battery pack through circuit; The supply of control and power distribution is through the power supply of circuit supply data communication radio station, GPS radio station, sounder and GPS equipment.
Material is chosen in the load-carrying of the structure of hull, size, material decision surveying vessel and handling, confirms size, and control plays a part can not ignore for hull to design the structure of ship.Hull of the present invention is selected metal material, adopts welding technology with sheet steel, is processed into the hull of surveying vessel; In carrying the cabin, fixedly mount data communication radio station, GPS radio station, sounder, GPS equipment, battery pack, power module and industrial control computer on the cabin base plate with screw, be convenient to installation and removal, hull design is two parts; Bow and hull; Hull is made into and carries the ship shape, has more characteristics such as solid, light and handy, anticorrosion, wear-resisting, metal heat-conducting characteristic also capable of using; Reduce cabin temperature, make that ship-borne equipment and surveying work are more reliable.
The hull hatchcover is installed on the top of hull, and hull hatchcover and hull match, and solar panel is installed at the top of hull hatchcover, and solar panel covers the top of hull hatchcover, and solar panel is connected with battery pack through circuit.
The present invention installs solar panel at the top of hull hatchcover; Solar panel is carried power supply to battery pack; Solar panel not only makes full use of the hull hatchcover of surveying vessel, and the power supply of carrying simultaneously can prolong surveying vessel is implemented surveying work in the waters time.
The stern of the tail end of hull is installed the driving mechanism of navigation course control system with installation clip; The top of driving mechanism is engine; The bottom of driving mechanism is drive unit under water, and the top ends of drive unit is installed screw propeller under water, and starter motor is installed on engine; Install portfire, flameout switch and startup misfire detection circuit on the starter motor, starter motor is connected with industrial control computer through circuit.The output terminal of engine is connected with the input end of reductor, and the output terminal of reductor is connected with an end of transmission shaft, and the other end of transmission shaft is connected with the screw propeller of drive unit end under water.Incorporate throttle servo is installed on the engine, and the throttle servo drives with throttle and is connected.
The driving mechanism of surveying vessel of the present invention adopts the external hanging type gasoline engine, and gasoline engine power is 3.5 horsepowers, 2 strokes, and peak power is 2.6kW, maximum (top) speed (4200-5300) rpm, gasoline engine deadweight 12.5kg.
The engine of surveying vessel adopts electronic starting and can Long-distance Control start, and can pass through data communication radio station issuing command, ignition start, and in a single day hull runs out of steam, and has the danger of toppling, and causes heavy losses.Install portfire, flameout switch and startup misfire detection circuit on the starter motor; And process one, and starter motor is connected with engine, and the starter motor starting switch is connected through the circuit industrial control computer; Accept the instruction of industrial control computer, start or flame-out engine.Engine drives screw propeller through reductor and transmission shaft, promotes the surveying vessel navigation.The throttle servo drives with throttle and is connected, and regulates throttle and drives, and the starter gear of throttle servo is connected with industrial control computer through circuit, accepts the instruction of industrial control computer.
The course topworks of navigation course control system is installed at the stern place of hull; Course topworks by carrier bar, fixedly chain pitch wheel, turn to chain drive-belt, photoelectric counter and 3 to form near limit switch; Carrier bar is installed in the engine corresponding section of stern place and driving mechanism; The both ends of carrier bar fixedly mount fixedly chain pitch wheel respectively; Two fixedly turn to chain drive-belt around installation on the chain pitch wheel, turn to chain drive-belt and two fixedly chain pitch wheel match, with driven by motor reductor drive fixing chain pitch wheel; Fixedly chain pitch wheel drives and turns to the reciprocal linear running of chain drive-belt, and motor is connected with industrial control computer through circuit.
Course topworks of the present invention and driving mechanism are undivided; Take course topworks and driving mechanism integrated design; The fixedly chain pitch wheel that course topworks adopts motor drives reductor driving shaft to connect turns to chain drive-belt to be connected driving mechanism with the course control lever and realizes turning to of surveying vessel.
Photoelectric counter and 3 arrange to be installed near limit switch 1 ~ 3 (16-1 ~ 3) in a side parallel equidistant that turns to chain drive-belt; Turn to the both ends of a side of chain drive-belt to be provided with respectively near limit switch 1 (16-1) with near limit switch 3 (16-3); Limit switch 1 (16-1) and install near limit switch 2 (16-2) near the middle of limit switch 3 (16-3); Turn to an end of chain drive-belt one side that photoelectric counter is installed; Photoelectric counter is aimed at and is turned to chain drive-belt, and photoelectric counter is connected with industrial control computer through circuit near limit switch with 3, and record turns to the quantity of the pitch in the reciprocal operational process of chain drive-belt.
The present invention realizes that accurate rudder position control is that to detect the position of rudder be foundation, and the detection of rudder position adopts photoelectric counter and 3 near switch.Photoelectric counter is the infrared pulse sensor for countering; In conjunction with the absolute position of confirming rudder for ship near switch; The infrared pulse sensor for countering is Fibre Optical Sensor and infrared pulse counter, the Column being luminous of a luminotron of bearing pin cutting of each pitch of chain, and counter detects pulse negative edge change frequency; And the record number, record value is chain and rotates pitch quantity.Error occurs for fear of counter, it is out of control to cause measuring the ship's head, on rudder control travel paths, has installed three evenly distributedly near switch, in order to the counts corrected error, guarantees that the control in course is correct.
Adopt IO module, AD module, PWM output and counting module to realize data acquisition and control in the industrial control computer; The IO module adopts Altay DAM-3024D; The IO module is gathered the data message near limit switch 1 ~ 3 (16-1 ~ 3); Through the detection of position signalling, industrial control computer sends instructions after data processing and starts or kill engine and adjust the course, and industrial control computer is given main controlling equipment through data communication radio station real-time Transmission.
The AD module adopts DAM-3058R; The AD module is gathered engine data information; Detection through position signalling; Industrial control computer sends instructions after data processing and starts or kill engine and adjust the course or the speed of a ship or plane, and industrial control computer is given main controlling equipment through data communication radio station real-time Transmission.
PWM output and counting module adopt great lattice i-7088; PWM output and counting module are gathered the data message of photoelectric counter; Through the detection of position signalling, industrial control computer after data processing, the send instructions operation of adjustment engine and the headway of control survey ship; Industrial control computer is given main controlling equipment through data communication radio station real-time Transmission; Industrial control computer through circuit and GPS equipment, GPS radio station, data communication radio station, sounder, gyroscope, keep away barrier appearance, the starter motor of engine and the throttle servo of engine and be connected.GPS equipment links the information of implementing to revise positioning system through GPS radio station and base station, resolves the three-dimensional coordinate of being put on the spot.
Industrial control computer of the present invention has adopted three modules to realize data acquisition and control; Be respectively Altay DAM-3024D (IO module), DAM-3058R (AD module) and great lattice i-7088 (PWM output and counting module); Industrial control computer arrives various data messages through sensor acquisition; The data data message is handled, obtained controlled quentity controlled variable, driving mechanism and course topworks are controlled automatically.Industrial control computer is gathered GPS, the depth of water, distance measuring signal through interface, realizes the automatic control of starting, shutdown, turning etc. through connection terminal.
The base station on the bank in measured waters is made up of GPS equipment, GPS receiver antenna, GPS radio station and GPS radio station antenna; The GPS receiver antenna is connected with GPS equipment with lead; GPS radio station antenna is connected with the GPS radio station with lead; The GPS equipment of base station and GPS receiver antenna receive the gps signal of satellite constellation for fixing fixed point; Surveying vessel receives the gps signal of base station through the GPS radio station, and the error of revising the numerical information of GPS is guaranteed the precision measured, resolves the three-dimensional coordinate of being put on the spot.
The present invention receives satellite constellation gps data information through the base station correction surveying vessel of stationary positioned on the bank, and surveying vessel receives that error information in time revises in real time, with the precision that guarantees that surveying vessel is measured.GPS receiver of the present invention adopts the configurator configuration, and data-out port 2 is the RS232 serial ports, and agreement is same as hyper terminal; The data output frequency is 10Hz; Data output format GGA, base station and surveying vessel are set up communication link through the GPS radio station on the bank, realize data communication; The industrial control computer of surveying vessel receives gps data in real time, in real time the round-off error data.
The remote control equipment on the bank in measured waters is made up of remote operation console, data communication radio station; The data communication radio station is connected with remote operation console with circuit; The data communication radio station is connected with data communication radio station antenna through lead, and remote operation console is implemented navigation, course, the speed of a ship or plane, setting-out signal through data communication radio station remote metering ship along leading line and measurement section line.
Remote control equipment of the present invention is directly realized manually control to surveying vessel through the data communication radio station; Directly control surveying vessel navigation, course, the speed of a ship or plane, searching leading line and seek the measurement section line; Implement underwater survey work along leading line and measurement section line, and obtain relevant information, be connected data radio with the remote operation platform through display; Directly control by RPB, realize starting, stop, the operation of craspedodrome, turning, acceleration-deceleration.Remote control equipment is based on the manually operating means of control of surveying vessel; Be connected with host computer data communication radio station the remote control operation bench through the RS232 Serial Port Line; Use the button sending controling instruction; The control panel that is equivalent to host computer is controlled surveying vessel from the remote operation platform through the data communication radio station, and the LCD LCD that the remote control operation bench carries shows the data that the surveying vessel slave computer is uploaded in real time.
The main controlling equipment on the bank in measured waters is made up of main control device, data communication radio station; The data communication radio station is connected with main control device through circuit; On the main control device display screen is set; Show the data message in the measuring process, the data communication radio station is connected with data communication radio station antenna through lead, and the leading line and measurement section line of surveying vessel is set through the data communication radio station through main control device; Reception sound the depth of the water data, gps measurement data, measuring distance data are revised the error that actual measurement occurs.
Master's controlling equipment of the present invention is realized self-navigation measurement (comprising the setting out survey section line) from main control device planning survey ship path; Set coordinate plan point on the bank, set the coordinate plan point in the water, the setting navigation line; The setting measurement section line is formulated corresponding program.Main control device is realized being connected through the RS232 serial ports with the data communication radio station, adopts external serial port expanding module to expand two serial ports.Surveying vessel is before beginning measurement; Main controlling equipment sends to the sample line data in the database through the data communication radio station industrial control computer of surveying vessel; Industrial control computer is decoded the data of receiving, converts decimal data to and leaves in the special data set.The automatic measuring process of surveying vessel is divided into two stages and realizes: seek sample line along leading line; Turning and measurement after the arrival sample line.
Vehicle-mounted bow, hull, main controlling equipment, remote control equipment and base station are transported to the bank in the measured waters that needs measurement, according to standard design leading line and the sample line data of measuring section line, reasonably set starting point and end point in advance; Be assembled into surveying vessel to bow and hull; In the stern of the surveying vessel outside with installation clip installing drive mechanism; Install base station, remote control equipment and main controlling equipment on the bank,, open surveying vessel, base station, remote control equipment and main controlling equipment in succession the starting point at least 1 surveying vessel placement needs measurement waters; The program initialization of surveying vessel, base station, remote control equipment and main controlling equipment; Start and keep away barrier appearance, gyroscope and sounder, gather the data message of keeping away barrier appearance, gyroscope and sounder, confirm that data message is normal.
The present invention is transported to bow, hull, main controlling equipment, remote control equipment and base station with vehicle the bank in the waters that needs measurement; Unload bow, hull, main controlling equipment, remote control equipment and base station from vehicle; Be assembled into surveying vessel to bow and hull with web member; The installing drive mechanism in the stern outside of surveying vessel; Select suitable place to install main controlling equipment, remote control equipment and base station on the bank, waters, be placed into the surveying vessel of at least 1 assembled and need implement the starting point in the waters of measurement, base station, remote control equipment and main controlling equipment can be controlled many surveying vessels simultaneously and implement to measure.In advance in waters that needs are measured according to standard design leading line and the sample line data of measuring section line, and reasonably set starting point and end point.Open the equipment of surveying vessel, equipment, remote control equipment and the main controlling equipment of base station in succession, the equipment of surveying vessel, equipment, remote control equipment and the main controlling equipment of base station are measured preceding testing of equipment, confirm that the testing of equipment data message is normal.
Set GPS radio station, the data communication radio station of main controlling equipment, the data communication radio station of remote control equipment, the data communication radio station of surveying vessel and the radio station communications parameter in GPS radio station of base station; The data communication radio station of the GPS radio station of base station, the data communication radio station of remote control equipment and main controlling equipment links with the data communication radio station and the GPS radio station of surveying vessel; Form carrying out shake communication, confirm that communication is normal.
Testing of equipment finishes; Debug and be provided with the communication link of main controlling equipment, remote control equipment and base station and surveying vessel; Communication link between the data communication radio station of main controlling equipment data communication radio station and remote control equipment data communication radio station and surveying vessel is set; Form carrying out shake communication, and confirm that communication is normal.Communication link between the GPS radio station of GPS radio station and surveying vessel of base station is set; Form carrying out shake communication, and confirm that communication is normal, carry out the check of gps data after handshake communication finishes; The GPS equipment of surveying vessel is gathered gps data from satellite constellation; And confirm through the main controlling equipment that the data communication radio station uploads on the bank the gps data that collects with base station, convert the WPS84 coordinate into local coordinate in real time, and the affirmation gps data is accurate.
Survey obstacle appearance is sent by probe and accepts ultrasound wave, after the place ahead runs into barrier, and the barrier reflection supersonic wave; After probe is received reflection supersonic wave; Calculate by launching ultrasound wave by sensor, calculate distance and required time between surveying vessel and the barrier, not only detect the barrier in the place ahead to the time that reflection supersonic wave is returned; Also detect the distance between surveying vessel and the barrier, from the data message and the warning of display screen range of a signal.
To be measured as the master automatically, when sampling automatically, might run into barriers such as bridge pier during the surveying vessel sampling work, install at the fore position of surveying vessel and survey the obstacle appearance, survey the barrier in surveying vessel the place ahead and the distance of barrier and ship.The survey obstacle appearance of surveying vessel of the present invention is launched ultrasound wave in real time; In case run into barrier, the barrier reflection supersonic wave is after survey obstacle appearance receives reflection wave; Calculate required time; Then distance can be implemented in the barrier in fore detecting ship the place ahead of surveying vessel thus between velocity of wave takes the opportunity, and different distance is made corresponding alarm and automatic obstacle-avoiding go or report to the police and bring to.
Gyroscope is monitored navigation direction, the side of surveying vessel in real time and is shaken and just shake, for the control system of surveying vessel provides the shipping agency data, guarantee surveying vessel leading line with measure the hull that goes on the section line and keep correct attitude.
The fore of surveying vessel of the present invention is equipped with gyroscope, and the data message whether course angle of exporting in real time drifts about provides three-dimensional acceleration, angular velocity and big geomagnetic field intensity through checking simultaneously.Gyroscope is responsible for coming in the data aggregation of each unit; Accurately measure the rotatablely move angular speed and the line acceleration of motion information of surveying vessel; Deliver to then and carry out real-time attitude matrix in the industrial control computer of surveying vessel and resolve, the acceleration information of accelerometer measures in the inertial navigation system to vertical, the transverse axis of surveying vessel, the motion reference coordinate system that is transformed into navigation usefulness is axial through attitude matrix; And then carry out navigation calculation; And from the relevant element of strapdown matrix, extract the attitude angle of body, and carry out data processing, draw the attitude of the real motion of surveying vessel.
The GPS equipment of surveying vessel and the GPS equipment of base station are realized linking through data link with satellite constellation, gather gps data, confirm that gps data is normal, implement the coordinate data conversion.Base station is positioned on the fixing on the bank known point; Receive gps signal in real time, simultaneously the surveying vessel data measured is compared, when surveying vessel is implemented to measure at each measurement point; Error appears in the result that surveying vessel is measured and the data of base station; Then pass to surveying vessel to error through the data communication radio station, surveying vessel receives that error information in time revises in real time, with the precision that guarantees that surveying vessel is measured.
Base station of the present invention and surveying vessel are confirmed gps data through the Radio Communications Link in data communication radio station, during measurement, through the measuring technique design; Adopt 1 base station and at least 1 surveying vessel to implement to measure, the fixed reception gps satellite signal of base station, and pass through the data communication radio station in real time to surveying vessel emission differential corrections data-signal; Surveying vessel is actual to be measured to each measuring point; Receive same gps satellite signal, receive the base station update information, resolve the three-dimensional coordinate of being put on the spot through the data communication radio station; Its coordinate system is the WGS84 terrestrial coordinate, is expressed as longitude and latitude and elevation (BLH).Local coordinate system or Beijing 54 coordinate systems (planimetric coordinates XYZ) are adopted in actual measurement usually, so need longitude and latitude (BLH) be converted into terrestrial network coordinate (XYZ), then carry out a series of activities such as follow-up ship control, setting-out.
Manipulation is at the main control device of the main controlling equipment on the bank in measured waters; Carry out the data setting and adjust parameter through the industrial control computer of data communication radio station surveying vessel; Send to leading line that designs in the database of main control device and the sample line data of measuring section line in the industrial control computer of surveying vessel; The industrial control computer of surveying vessel is decoded the sample line data of receiving, the data message after the conversion leaves in the special array.
The present invention's main controlling equipment is on the bank realized self-navigation measurement (comprising the setting out survey section line) from main control device planning survey ship path; Set coordinate plan point on the bank, set the coordinate plan point in the water, the setting navigation line; The setting measurement section line is formulated corresponding program.
Industrial control computer carries out initialization to each module; After initialization finished, the remote operation console of controlling remote control equipment sent instruction through the data communication radio station to industrial control computer, opened the starter motor igniting; Engine start; Whether start misfire detection electric circuit inspection engine detection of engine and start, engine, surveying vessel sets sail if driving screw propeller through reductor and transmission shaft and promoting surveying vessel.
After industrial control computer initialization of the present invention finishes; The remote operation console of controlling remote control equipment sends instruction through the data communication radio station to industrial control computer; Remote control equipment is the manually operating means of control of surveying vessel; Remote operation console is connected with host computer data communication radio station through the RS232 Serial Port Line, uses the button sending controling instruction, and the LCD LCD of remote operation console can show the data that the surveying vessel slave computer is uploaded in real time.Remote control equipment is realized straighforward operation, controls remote operation console and sends instruction, and surveying vessel is implemented igniting, navigation according to instruction.The present invention detects the voltage signal that starts the misfire detection circuit through the AD sampling module, realizes the detection of engine operating state, the successful engine start of lighting a fire, and it is effective to produce signal, and surveying vessel normally moves, otherwise continues ignition trigger.
Remote operation console sends instruction through the data communication radio station to industrial control computer; The throttle servo is regulated throttle and is driven the adjustment headway, and remote operation console sends instruction through the data communication radio station to industrial control computer, and the motor-driven of course topworks is chain wheel fixedly; Turn to the operation of chain drive-belt linear reciprocation; Turn to chain drive-belt to drive course control lever rotating drive mechanism, the navigation direction of adjustment surveying vessel, surveying vessel is measured the starting point guide course line navigation in waters from needs.
Control the course line speed that remote operation console sends instruction adjustment surveying vessel, control remote operation console and send the navigation direction that instruction drives course topworks adjustment surveying vessel, surveying vessel navigates by water to the setting navigation line from starting point.
Surveying vessel is sought leading line through GPS equipment in measured waters, remote operation console is controlled surveying vessel through the data communication radio station and got into leading line, and whether the position of the hull of adjustment surveying vessel departs from leading line, the deflection of adjustment surveying vessel.
The industrial control computer of surveying vessel of the present invention is sought the coordinate of leading line through GPS equipment; Control surveying vessel from remote operation console and sail leading line into; Surveying vessel is according to the leading line navigation of setting; Industrial control computer detects the data message of gyrostatic hull attitude, the deflection of the attitude of remote operation console adjustment surveying vessel hull on leading line.
Surveying vessel is sought along leading line through GPS equipment and is measured section line; Remote operation console is controlled surveying vessel through the data communication radio station and is got into the measurement section line; Whether the position of the hull of adjustment surveying vessel departs from the measurement section line; Remote operation console sends the distance that two sides are measured in instruction through the data communication radio station to industrial control computer; Remote operation console is controlled surveying vessel through the data communication radio station and is implemented the bottom is under water measured along measuring section line, the industrial control computer storage of measurement data, and industrial control computer is transferred to main controlling equipment on the bank to measurement data through the data communication radio station.
Controlling the measurement section line that surveying vessel drives towards setting along leading line from remote operation console advances; Remote operation console is controlled the surveying vessel turning and is sailed the measurement section line of setting into; Industrial control computer detects the data message of gyrostatic hull attitude, and remote operation console adjustment surveying vessel hull is in the attitude of measuring on the section line.Handle the distance that surveying vessel is measured two sides from the remote operation platform; Confirm that surveying vessel is at the navigation circuit of measuring on the section line; Surveying vessel is implemented the measurement at the bottom under water, tested waters according to the navigation circuit of measuring on the section line; The industrial control computer storage of measurement data, industrial control computer is uploaded to main controlling equipment on the bank through the data communication radio station, main controlling equipment storage backup measurement data.
Remote operation console is controlled surveying vessel through the data communication radio station and is got back to leading line, implements to measure to the next section line of measuring, and reciprocation cycle operational measure to the last item is measured section line; The underwater survey end-of-job, remote operation console is controlled surveying vessel through the data communication radio station and is returned starting point from end point and pull in to shore, and closes the equipment on the surveying vessel; The dismounting surveying vessel cuts out base station, remote control equipment and main controlling equipment, entrucking; Surveying work is all over, and leaves measured waters.
Measure one and measure section line, the remote operation platform is controlled surveying vessel and is got back on the leading line, and industrial control computer detects the data message of gyrostatic hull attitude; The attitude of remote operation console adjustment surveying vessel hull on leading line handled surveying vessel and measured the section line navigation along leading line to the next one, and reciprocation cycle measures the measurement section line of defined; Control surveying vessel and turn back to starting point from end point, surveying vessel pulls in to shore, and closes all devices on the surveying vessel; Pull down the driving mechanism of surveying vessel quarter, be disassembled into bow and hull to surveying vessel, close base station, remote control equipment and main controlling equipment; The equipment entrucking, surveying work is all over.
Vehicle-mounted bow, hull, main controlling equipment, remote control equipment and base station are transported to the bank in the measured waters that needs measurement, according to standard design leading line and the sample line data of measuring section line, reasonably set starting point and end point in advance; Be assembled into surveying vessel to bow and hull, outside the stern of surveying vessel,, install base station and main controlling equipment on the bank with installation clip installing drive mechanism; The starting point that needs the surveying vessel placement to measure the waters; Open surveying vessel, base station and main controlling equipment in succession, the program initialization of surveying vessel, base station and main controlling equipment starts and keeps away barrier appearance, gyroscope and sounder; Collection keeps away the data message of barrier appearance, gyroscope and sounder, confirms that data message is normal.
The present invention is transported to bow, hull, main controlling equipment, remote control equipment and base station with vehicle the bank in the waters that needs measurement; Unload bow, hull, main controlling equipment, remote control equipment and base station from vehicle; Be assembled into surveying vessel to bow and hull with web member; The installing drive mechanism in the stern outside of surveying vessel; Select suitable place to install main controlling equipment, remote control equipment and base station on the bank, waters, be placed into the surveying vessel of at least 1 assembled and need implement the starting point in the waters of measurement, base station, remote control equipment and main controlling equipment can be controlled many surveying vessels simultaneously and implement to measure.In advance in waters that needs are measured according to standard design leading line and the sample line data of measuring section line, and reasonably set starting point and end point.Open the equipment of surveying vessel, the equipment and the main controlling equipment of base station in succession, the equipment of surveying vessel, the equipment and the main controlling equipment of base station are measured preceding testing of equipment, confirm that the testing of equipment data message is normal.
The radio station parameter in the data communication radio station of the data communication radio station of setting base station, the data communication radio station of main controlling equipment and surveying vessel; The data communication radio station of base station and the data communication radio station of main controlling equipment link with the data communication radio station of surveying vessel; Form carrying out shake communication, confirm that communication is normal.
Testing of equipment finishes, and debugs and be provided with the communication link of main controlling equipment and base station and surveying vessel, and the communication link between the data communication radio station of main controlling equipment data communication radio station and surveying vessel is set, the formation carrying out shake communication, and the affirmation communication is normal.Communication link between the GPS radio station of GPS radio station and surveying vessel of base station is set, forms carrying out shake communication, and confirm that communication is normal; After finishing, handshake communication carries out the check of gps data; The GPS equipment of surveying vessel is gathered gps data from satellite constellation, supplies uses such as self-navigation and position judgment, and confirms the gps data that collects through main controlling equipment and base station that the data communication radio station uploads on the bank; Convert the WPS84 coordinate into local coordinate in real time, and confirm that gps data is accurate.Surveying vessel is implemented to go according to the program of setting, and is gone automatically according to Loft Line by programmed control, regulates actuator continuously according to actual conditions, guarantees needed speed, and program is regulated surveying vessel left-right rotation and tune continuously, up to desired position and direction.
Survey obstacle appearance is sent by probe and accepts ultrasound wave, after the place ahead runs into barrier, and the barrier reflection supersonic wave; After probe is received reflection supersonic wave; Calculate by launching ultrasound wave by sensor, calculate distance and required time between surveying vessel and the barrier, not only detect the barrier in the place ahead to the time that reflection supersonic wave is returned; Also detect the distance between surveying vessel and the barrier, from the data message and the warning of display screen range of a signal.
To be measured as the master automatically, when sampling automatically, might run into barriers such as bridge pier during the surveying vessel sampling work, install at the fore position of surveying vessel and survey the obstacle appearance, survey the barrier in surveying vessel the place ahead and the distance of barrier and ship.The survey obstacle appearance of surveying vessel of the present invention is launched ultrasound wave in real time; In case run into barrier, the barrier reflection supersonic wave is after survey obstacle appearance receives reflection wave; Calculate required time; Then distance can be implemented in the barrier in fore detecting ship the place ahead of surveying vessel thus between velocity of wave takes the opportunity, and different distance is made corresponding alarm and automatic obstacle-avoiding go or report to the police and bring to.
Gyroscope is monitored navigation direction, the side of surveying vessel in real time and is shaken and just shake, for the control system of surveying vessel provides the shipping agency data, guarantee surveying vessel leading line with measure the hull that goes on the section line and keep correct attitude.
The fore of surveying vessel of the present invention is equipped with gyroscope, and the data message whether course angle of exporting in real time drifts about provides three-dimensional acceleration, angular velocity and big geomagnetic field intensity through checking simultaneously.Gyroscope is responsible for coming in the data aggregation of each unit; Accurately measure the rotatablely move angular speed and the line acceleration of motion information of surveying vessel; Deliver to then and carry out real-time attitude matrix in the industrial control computer of surveying vessel and resolve, the acceleration information of accelerometer measures in the inertial navigation system to vertical, the transverse axis of surveying vessel, the motion reference coordinate system that is transformed into navigation usefulness is axial through attitude matrix; And then carry out navigation calculation; And from the relevant element of strapdown matrix, extract the attitude angle of body, and carry out data processing, draw the attitude of the real motion of surveying vessel.
The GPS equipment of surveying vessel and the GPS equipment of base station are realized linking through data link with satellite constellation, gather gps data, confirm that gps data is normal, implement the coordinate data conversion.Base station is positioned on the fixing on the bank known point; Receive gps signal in real time, simultaneously the surveying vessel data measured is compared, when surveying vessel is implemented to measure at each measurement point; Error appears in the result that surveying vessel is measured and the data of base station; Base station is then passed to the GPS radio station of surveying vessel to error through the GPS radio station, and surveying vessel receives that error information in time revises in real time, with the precision that guarantees that surveying vessel is measured.
Base station of the present invention and surveying vessel are confirmed gps data through the Radio Communications Link in data communication radio station, during measurement, through the measuring technique design; Adopt 1 base station and at least 1 surveying vessel to implement to measure, the fixed reception gps satellite signal of base station, and pass through the data communication radio station in real time to surveying vessel emission differential corrections data-signal; Surveying vessel is actual to be measured to each measuring point; Receive same gps satellite signal, receive the base station update information, resolve the three-dimensional coordinate of being put on the spot through the data communication radio station; Its coordinate system is the WGS84 terrestrial coordinate, is expressed as longitude and latitude and elevation (BLH).Local coordinate system or Beijing 54 coordinate systems (planimetric coordinates XYZ) are adopted in actual measurement usually, so need longitude and latitude (BLH) be converted into terrestrial network coordinate (XYZ), then carry out a series of activities such as follow-up ship control, setting-out.
Manipulation is at the main control device of the main controlling equipment on the bank in measured waters; Carry out the data setting and adjust parameter through the industrial control computer of data communication radio station surveying vessel; Send to leading line that designs in the database of main control device and the sample line data of measuring section line in the industrial control computer of surveying vessel; The industrial control computer of surveying vessel is decoded the sample line data of receiving, the data message after the conversion leaves in the special array.
The present invention's main controlling equipment is on the bank realized self-navigation measurement (comprising the setting out survey section line) from main control device planning survey ship path; Set coordinate plan point on the bank, set the coordinate plan point in the water, the setting navigation line; The setting measurement section line is formulated corresponding program.
Industrial control computer carries out initialization to each module, and after initialization finished, the main control device of main controlling equipment sent instruction through the data communication radio station to industrial control computer; Start the starter motor igniting; Whether engine start starts misfire detection electric circuit inspection engine detection of engine and starts, and engine drives screw propeller through reductor and transmission shaft and promotes the surveying vessel navigation; The throttle servo of surveying vessel is regulated throttle and is driven the adjustment headway; The motor-driven of course topworks is chain wheel fixedly, turns to the operation of chain drive-belt linear reciprocation, turns to chain drive-belt to drive course control lever rotating drive mechanism; The navigation direction of adjustment surveying vessel, surveying vessel are measured the starting point guide course line navigation in waters from needs.
Master's controlling equipment of the present invention is realized the automatic remote control operation, and surveying vessel is according to the program implementation and operation of setting, after the industrial control computer initialization finishes; The main control device of main controlling equipment sends instruction through the data communication radio station to industrial control computer, starts the starter motor igniting of driving mechanism, starting engine; Industrial control computer detects the voltage signal that starts the misfire detection circuit through the AD sampling module; The running status of detection of engine, engine start, it is effective to produce signal; Surveying vessel normally moves, and continues the ignition trigger engine on the contrary until engine start.Surveying vessel begins navigation, and industrial control computer sends instruction throttle servo and regulates the headway that throttle drives the adjustment surveying vessel.Industrial control computer sends fixedly chain wheel of motor-driven that instruction starts course topworks; Fixedly chain wheel drives and turns to the operation of chain drive-belt linear reciprocation; Turn to chain drive-belt to drive course control lever rotating drive mechanism; The navigation direction of adjustment surveying vessel, surveying vessel navigates by water from starting point guide course line.
Surveying vessel is sought leading line through GPS equipment in measured waters, industrial control computer gets into leading line according to the sample line data manipulation surveying vessel that has designed, and whether the position of the hull of adjustment surveying vessel departs from leading line, the deflection of adjustment surveying vessel.Surveying vessel is sought along leading line through GPS equipment and is measured section line; Industrial control computer gets into according to the sample line data manipulation surveying vessel that has designed and measures section line; Whether the position of the hull of adjustment surveying vessel departs from the measurement section line, measures the distance of two sides, and surveying vessel is implemented the bottom is under water implemented to measure along measuring section line; The industrial control computer storage of measurement data, industrial control computer is transferred to main controlling equipment on the bank to measurement data through the data communication radio station.
Surveying vessel of the present invention is left from starting point; The GPS equipment of surveying vessel is through show the coordinate of surveying vessel in real time on the display, industrial control computer sends instruction and advances to the coordinate of nearest leading line, and surveying vessel gets into leading line; Navigate by water along leading line; Industrial control computer detects the data message of gyrostatic hull attitude, and industrial control computer sends the attitude of instruction adjustment surveying vessel hull on leading line, the deflection of the attitude of adjustment surveying vessel hull on leading line.Industrial control computer sends and instructs the coordinate that surveying vessel drives towards article one measurement section line of setting along leading line to advance; Surveying vessel arrives article one and measures section line; Industrial control computer sends the turning of instruction surveying vessel and gets into the measurement section line; Industrial control computer detects the data message of gyrostatic hull attitude, and industrial control computer sends instruction adjustment surveying vessel hull in the attitude of measuring on the section line, and adjustment surveying vessel hull is at the deflection of measuring the attitude on the section line; Industrial control computer sends the distance that two sides are measured in instruction, confirms that surveying vessel is at the navigation circuit of measuring on the section line.Industrial control computer sends the instruction sounder and measures the bottom under water; The sounder of sounder probe is launched under water and is received the reflected sound wave signal; Through record sound wave emissions and time of reception, calculate the depth of water, the three-dimensional coordinate of each measuring point is implemented the location by GPS equipment under water; Record the planimetric position and the water level elevation of depth of water point, calculate the river bed elevation.Industrial control computer storage of measurement data information uploads to main controlling equipment simultaneously on the bank.
Industrial control computer sends instruction, gets back to leading line according to the sample line data manipulation surveying vessel that has designed, implements to measure to the next section line of measuring; Reciprocation cycle is implemented to measure according to the sample line data that design in the waters of needs measurement, and the last item to be measured is measured section line and finished, and industrial control computer returns starting point according to the sample line data manipulation surveying vessel that designs in advance and pulls in to shore; Close the equipment on the surveying vessel; The dismounting surveying vessel cuts out base station, remote control equipment and main controlling equipment, entrucking; Surveying work finishes, and leaves measured waters.
Measure article one and measure section line, industrial control computer sends the turning of instruction surveying vessel and gets back to leading line, measures section line navigation to next bar; Continue to implement surveying work, reciprocation cycle is implemented surveying work according to the sample line data message of predetermined design, and intact the last item to be measured is measured section line; Industrial control computer sends the instruction surveying vessel and returns starting point from end point along leading line, and surveying vessel pulls in to shore, and closes all devices on the surveying vessel; Pull down the driving mechanism of surveying vessel quarter, be disassembled into bow and hull to surveying vessel, close base station, remote control equipment and main controlling equipment; The equipment entrucking, surveying work is all over.
The present invention is bathymetric surveying ship and method for making and measuring method.Design science of the present invention, rational in infrastructure, equipment is provided with compactness, and cost is low; Be convenient to processing and fabricating, improve efficiency of measurement, the power that lightens one's labor, measurement data is accurate; Easy and simple to handle, convenient, flexible, stability is high, easy installation and removal; Be convenient to the transportation transition, time saving and energy saving, high efficiency, it is high to measure accurate precision; Prolong instrument and equipment tenure of use, can adapt to the underwater survey in various different waters, the water-bed under water situation in accurate response waters provides reliable data to relevant department; The present invention's multi-subject knowledges such as profit, remote control, mapping, communication, robotization, electromechanics, computing machine and software that catchment have been realized the split of ship machine, small-sized, portable, remote control, auto-mapping, navigation, multiple functions such as control and measurements automatically, realize the measurement robotization.
Description of drawings
Below in conjunction with accompanying drawing and embodiment to the detailed description of the invention.
The schematic side view of Fig. 1 bathymetric surveying ship
The schematic top plan view of the device layout of Fig. 2 bathymetric surveying ship
The synoptic diagram of Fig. 3 bathymetric surveying ship's head control executing mechanism
The underwater survey of Fig. 4 bathymetric surveying ship and the synoptic diagram of data link
Fig. 5 bathymetric surveying ship is implemented the instrumentation plan in measured waters
The synoptic diagram of the driving mechanism of Fig. 6 bathymetric surveying ship
The control system block diagram representation of Fig. 7 bathymetric surveying ship
The block diagram representation of the main controlling equipment operation interface of Fig. 8 bathymetric surveying ship
The measurement FB(flow block) synoptic diagram of Fig. 9 bathymetric surveying ship
1 bow, 2 hulls, 3 sterns, 4 carrying cabins, the 5GPS receiver antenna, 6 keep away the barrier appearance, 7 sounders probe; 8GPS radio station antenna, 9 data communication radio station antennas, 10 gyroscopes, 11 equipment erection columns, 12 hull hatchcovers, 13 driving mechanisms, 14 course topworkies; 15 solar panels, 16 near limit switch 1 ~ 3,17 photoelectric counters, 18 course control levers, 19 turn to chain drive-belt, 20 fixing chain wheels, 21GPS equipment; 22 power modules, 23 industrial control computers, 24 battery pack, 25GPS radio station, 26 data communication radio station, 27 sounders, 28 undersea detection holes; 29 base stations, 30 surveying vessels, the 31 measured bottoms, 32 satellite constellations, 33 data link, 34 leading lines; 35 measured waters, 36 measure section lines, 37 main controlling equipments, 38 screw propellers, 39 drive units under water, 40 engines; 41 installation clips, 42 slide bar web members, 43 carrier bars, 44 remote control equipments, 45 transmission shafts, 46 starter motors; 47 reductors, 48 throttle servies, 49 throttles drive, and 50 start misfire detection circuit, 51 remote operation consoles, 52 main control devices.
Embodiment
Embodiment 1
Form by at least 1 surveying vessel (30), base station (29), main controlling equipment (37) and remote control equipment (44); Base station (29), main controlling equipment (37) and remote control equipment (44) are controlled in the enforcement on the bank of measured waters (35), and base station (29), main controlling equipment (37) and remote control equipment (44) are controlled many surveying vessels (30) simultaneously according to actual needs.
Surveying vessel (30) is made up of hull, control system, navigation course control system, positioning system, measuring system and communication system; The hull integral body of surveying vessel (30) is by bow (1) and the independent segmented separately formation of hull (2); Bow (1) integral sealing, bow (1) top is the boat deck, bow (1) leading section is most advanced and sophisticated; The rear end integral body of bow (1) is the plane; The leading section of bow (1) rearward end and hull (2) matches, and bow (1) rear end middle part is provided with the undersea detection hole (28) of Baltimore groove shape, and undersea detection hole (28) deck of boat penetrates into the hull bottom of bow (1) bottom from bow (1) top; The front end of the rear end of bow (1) and hull (2) is connected to form undersea detection hole (28); Be convenient to exploration hole (28) interior installation and removal equipment erection column (11) under water, behind the interior erecting equipment erection column of exploration hole (28) (11), bow (1) and hull (2) link into an integrated entity through web member and form surveying vessel (30) under water; Bow (1) is convenient to dismounting and transition transportation with the split design of hull (2), like Fig. 1, Fig. 2, Fig. 3, Fig. 4, shown in Figure 5.
Embodiment 2
Equipment erection column (11) integral body is column; The middle part of equipment erection column (11) is fixedly mounted in the undersea detection hole (28); Equipment erection column (11) integral body is column; Equipment erection column (11) runs through undersea detection hole (28); The bottom of undersea detection hole (28) is passed in the bottom of equipment erection column (11), and the top ends of the bottom of equipment erection column (11) fixedly installs the sounder probe (7) of measuring system, and sounder probe (7) transmits under water and receives the signal of the measured bottom (31) reflected back; Sounder probe (7) is connected with sounder (27) through lead, and sounder probe (7) is directly surveyed landform, landforms and the degree of depth of the measured bottom (31) under water along measuring section line (36).
The top of undersea detection hole (28) is passed in the upper end of equipment erection column (11); Keeping away of installation and control system hinders appearance (6) on the top of equipment erection column (11); Keeping away barrier appearance (6) is connected with industrial control computer (23) through circuit; Keep away barrier appearance (6) and survey the barrier in surveying vessel (30) the place ahead and the distance between barrier and the ship; Prevent that fore from colliding object waterborne, and give the navigation of industrial control computer (23) adjustment surveying vessel (30) data information transfer that records.
The GPS receiver antenna (5) of the top ends mounting positioning of equipment erection column (11); GPS receiver antenna (5) is connected with GPS equipment (21) through lead; Receive the information of Aerospace Satellite constellation (32) navigation positioning system; Base station (29) resolves and obtains the three-dimensional coordinate in place on the spot for the gps signal of fixing fixed point reception satellite constellation (32), surveying vessel (30) receives base station (29) update information by GPS radio station (25).
GPS radio station antenna (8), the data communication radio station antenna (9) of communication system and the gyroscope (10) of control system of fixed installation positioning system on the deck of bow (1); GPS radio station antenna (8) is connected with GPS radio station (25) through lead; Receive the information that base station (29) is revised positioning system through GPS radio station (25), resolve and obtain the three-dimensional coordinate in place on the spot.
Data communication radio station antenna (9) is connected with data communication radio station (26) through lead; Data communication radio station (26) is connected with industrial control computer (23) through circuit; Be connected with base station (29) through data link (33); Industrial control computer (23) receives the instruction that main controlling equipment (37) sends, the numerical information between round-trip transmission master's controlling equipment (37) and the industrial control computer (23).
The gyroscope (10) of the leading section fixed installation control system on bow (1) deck; Gyroscope (10) is connected with industrial control computer (23) through circuit; Gyroscope (10) is monitored navigation direction, the side of surveying vessel (30) in real time and is shaken and just shake; The aeronautical data of surveying vessel (30) is provided for the navigation course control system of industrial control computer (23); Implement resolving of real-time attitude matrix, guarantee that surveying vessel (30) goes according to leading line (34), like Fig. 1, Fig. 2, shown in Figure 35.
Embodiment 3
Hull (2) integral body is carries the ship shape; Be provided with on the hull (2) and carry cabin (4); The stern (3) of the tail end of hull (2) is provided with the driving mechanism (13) of navigation course control system through installation clip (41), and driving mechanism (13) drives the navigation of surveying vessel (30), and hull hatchcover (12) is installed on the top of hull (2); Hull hatchcover (12) matches with hull (2); Hull hatchcover (12) blocks protection and carries the equipment in the cabin (4), and solar panel (15) is installed at the top of hull hatchcover (12), and solar panel (15) covers the top of hull hatchcover (12); Solar panel (15) is connected with battery pack (24) through circuit, carries power supply to battery pack (24).
Carry cabin (4) internal fixation installation data communication radio station (26), GPS radio station (25), sounder (27), GPS equipment (21), battery pack (24), power module (22) and industrial control computer (23); The GPS radio station (25) of positioning system is connected with the industrial control computer (23) of control system through circuit with GPS equipment (21); Implementing the location controls; The sounder of measuring system (27) is connected with the industrial control computer (23) of control system through circuit; Implement to measure and control; The data communication radio station (26) of communication system is connected with the industrial control computer (23) of control system through circuit; Industrial control computer (23) links controlling of setting, transfer data information, reception instruction and the verification locator data of implementing communication, measurement data through data communication radio station (26) and main controlling equipment (37) and remote control equipment (44); Industrial control computer (23) links the information of implementing to revise positioning system through GPS radio station (25) and base station (29), resolves the three-dimensional coordinate of being put on the spot.
Battery pack (24) is connected with data communication radio station (26), GPS radio station (25), sounder (27), GPS equipment (21) parallel connection through circuit with power module (22); Power module (22) Control Allocation battery pack (24) is supplied with the power supply of data communication radio station (26), GPS radio station (25), sounder (27), GPS equipment (21), like Fig. 1, Fig. 2, Fig. 3, Fig. 4, shown in Figure 5.
Embodiment 4
The cabin external application installation clip (41) of stern (3) is installed the driving mechanism (13) of the surveying vessel (30) of navigation course control system; The top of driving mechanism (13) is engine (40); The bottom of driving mechanism (13) is drive unit (39) under water; The top ends of drive unit (39) is installed screw propeller (38) under water, through operation driving surveying vessel (30) the navigating by water along leading line (34) and measurement section line (36) in measured waters (35) of driving mechanism (13).
Engine (40) is gone up starter motor (46) is installed; Starter motor (46) is made up of portfire, flameout switch and startup misfire detection circuit (50); Engine (40) adopts the electricity sparking to start; Starter motor (46) is connected with industrial control computer (23) through circuit; The instruction that starter motor (46) is accepted industrial control computer (23) starts or kill engine (40), and main controlling equipment (37) or remote control equipment (44), stop working and shut down or ignition trigger engine (40) to industrial control computer (23) issuing command through data communication radio station (26); Whether starting engine (40) back starts misfire detection circuit (50) detection of engine (40) and starts, and does not start to continue to start.
The output terminal of engine (40) is connected with the input end of reductor (47); Reductor (47) increases output torque and the stability that improves rudder for ship; The output terminal of reductor (47) is connected with an end of transmission shaft (45), and the other end of transmission shaft (45) is connected with the screw propeller (38) of drive unit (39) end under water.
Engine (40) is gone up incorporate throttle servo (48) is installed; Throttle servo (48) drives (49) with throttle and is connected; Throttle servo (48) is regulated throttle driving (49) throttle is implemented to strengthen or reduce volume read-out; The adjustment headway, throttle servo (48) is connected with industrial control computer (23) through circuit, accepts the speed of instruction adjustment surveying vessel (30) navigation of industrial control computer (23) issue.
Engine (40) and the whole Rotate 180 of drive unit (39) under water Zero Operation; One end of course control lever (18) and engine (40) fixed installation; Course control lever (18) is whole shaft-like; The course control lever is provided with slideway on (18), and course control lever (18) is gone up slide bar web member (42) is installed, and slide bar web member (42) moves back and forth along the slideway on the course control lever (18); Slide bar web member (42) with turn to the middle part of chain drive-belt (19) to be connected to a fixed, slide bar web member (42) is together with engine (40) and the whole Rotate 180 of drive unit (39) under water Zero Operation is through slide bar web member (42) UNICOM's driving mechanism (13) and course topworks (14), like Fig. 1, Fig. 2, Fig. 3, shown in Figure 6.
Embodiment 5
The course topworks (14) of navigation course control system is installed by stern (3) portion of hull (2); Course topworks (14) by carrier bar (43), fixedly chain pitch wheel (20), turn to chain drive-belt (19), photoelectric counter (17) and 3 to form near limit switch (16); Carrier bar (43) is installed in stern (3) and locates corresponding with the engine (40) of driving mechanism (13); The both ends of carrier bar (43) fixedly install fixedly chain wheel (20) respectively; Two fixedly chain pitch wheel (20) is last around turning to chain drive-belt (19); Turn to chain drive-belt (19) with two fixedly chain pitch wheel (20) match; Through driven by motor reductor drive fixing chain pitch wheel (20), fixedly chain pitch wheel (20) drives and turns to chain drive-belt (19) to constitute reciprocal linear running, and motor is connected with industrial control computer (23) through circuit; Motor is accepted the instruction of industrial control computer (23) and is implemented reciprocal linear running, and the rotating operation track of driving mechanism (13) moves in the reciprocal linear running track scope of chain drive-belt (19).
The parallel installation photoelectric counter of a side (17) and 3 that turn to chain drive-belt (19) are near limit switch (16); 3 near limit switch (16) equidistance arrangement setting; Photoelectric counter (17) is connected with industrial control computer (23) through circuit near limit switch (16) with 3, turns to the numerical information of chain drive-belt (19) running status to industrial control computer (23) transmission.
Turn to the both ends of a side of chain drive-belt (19) to be provided with respectively near limit switch 1 (16-1) with near limit switch 3 (16-3); Near limit switch 1 (16-1) and near limit switch 3 (16-3) to course control lever (18) implement Stroke Control and spacing and measure turn to chain drive-belt (19) back and forth operation speed, calculate and turn to the back and forth quantity of the pitch of operation of chain drive-belt (19), 180 of the engine (40) of driving mechanism (13) Zero The rotating operation track is included in the track of the reciprocal linear running that turns to chain drive-belt (19) of course topworks (14); The top ends that is installed in the slide bar web member (42) on the engine (40) is aimed near limit switch 1 (16-1) or near limit switch 3 (16-3); The left steering or the right turn of surveying vessel (30) have arrived the limit; Implement to report to the police to industrial control computer (23) near limit switch 1 (16-1) or near limit switch 3 (16-3), industrial control computer (23) is in time adjusted the course of surveying vessel (30) after data processing.
Be provided with near limit switch 2 (16-2) at limit switch 1 (16-1) with near the middle of limit switch 3 (16-3); Near limit switch 2 (16-2) to course control lever (18) implement Stroke Control and spacing and measure turn to chain drive-belt (19) back and forth operation speed, calculate and turn to the back and forth quantity of the pitch of operation of chain drive-belt (19); Course control lever (18) top ends playback aim near limit switch 2 (16-2) then photoelectric counter (17) restart log data information with 3 near limit switch (16) data zero clearing, to course control lever (18) implement Stroke Control and spacing and measure turn to chain drive-belt (19) back and forth operation speed, calculate the quantity that turns to the pitch that chain drive-belt (19) back and forth moves and to industrial control computer (23) transmitting data information.
Turn to an end of chain drive-belt (19) one sides that photoelectric counter (17) is set; Photoelectric counter (17) is aimed at and is turned to chain drive-belt (19); Turn to back and forth linear running of chain drive-belt (19), turn to the bearing pin of chain drive-belt (19) to cut the light beam that luminotron sends, the Column being luminous that a photoelectric counter of every cutting (17) luminotron sends then writes down a number; Institute's numerical values recorded is for turning to the back and forth quantity of the pitch of operation of chain drive-belt (19); And to industrial control computer (23) transmitting data information, for fear of the error of photoelectric counter (17), through 3 near limit switch (16) counts corrected error; Guarantee the course of correct control survey ship (30), like Fig. 1, Fig. 2, shown in Figure 3.
Embodiment 6
Adopt IO module, AD module, PWM output and counting module to realize data acquisition and control in the industrial control computer (23); The IO module is gathered the data message near limit switch 1 ~ 3 (16-1 ~ 3); Give industrial control computer (23) data information transfer; Detection through position signalling; Industrial control computer (23) sends instructions after data processing and starts or kill engine and adjust the course, and industrial control computer (23) is given main controlling equipment (37) through data communication radio station (26) real-time Transmission.
The AD module is gathered engine (40) data message; Give industrial control computer (23) data information transfer; Through the detection of position signalling, industrial control computer (23) sends instructions after data processing and starts or kill engine and adjust the course, and industrial control computer (23) is given main controlling equipment (37) through data communication radio station (26) real-time Transmission; Main controlling equipment is provided with display screen on (37), shows the data message in the measuring process.
PWM output and counting module are gathered the data message of photoelectric counter (17); Give industrial control computer (23) data information transfer; Detection through position signalling; Industrial control computer (23) after data processing, send instructions operation and the headway of control survey ship (30) of adjustment engine (40), industrial control computer (23) is given main controlling equipment (37) through data communication radio station (26) real-time Transmission.
Industrial control computer (23) through circuit and GPS equipment (21), GPS radio station (25), data communication radio station (26), sounder (27), gyroscope (10), keep away barrier appearance (6), the starter motor (46) of engine (40) and the throttle servo (48) of engine (40) and be connected.The operation interface of the display screen that is provided with from main controlling equipment (37) obtains and shows flight path, the parameter of sensor, the conversion of reading slotted line, reading Loft Line and gps coordinate; Can implement parameter setting and data access through operation interface, like Fig. 1, Fig. 2, Fig. 3, Fig. 7, shown in Figure 8.
Embodiment 7
The base station on the bank (29) in measured waters (35) is made up of GPS equipment (21), GPS receiver antenna (5), GPS radio station (25) and GPS radio station antenna (8); GPS receiver antenna (5) is connected with GPS equipment (25) through lead; GPS equipment (25) links with satellite constellation (32) through data link (33); Obtain GPS information; GPS equipment (25) is connected with GPS radio station (25) through circuit; GPS radio station antenna (8) is connected with GPS radio station (25) through lead, and the GPS equipment (25) of base station (29) and GPS receiver antenna (5) are the gps signal of fixing fixed point reception satellite constellation (32), and surveying vessel (30) receives the numerical information of the gps signal correction gps signal of base station (29) through GPS radio station (25); Resolve the three-dimensional coordinate of being put on the spot, like Fig. 4, Fig. 5, Fig. 7, shown in Figure 8.
Embodiment 8
The remote control equipment on the bank (44) in measured waters (35) is made up of remote operation console (51), data communication radio station (26); Data communication radio station (26) is connected with remote operation console (51) through circuit; Data communication radio station (26) is connected with data communication radio station antenna (9) through lead; Control navigation, course, the speed of a ship or plane, the setting-out signal of surveying vessel (30) through data communication radio station (26) through remote operation console (51); Implement bathymetric survey, GPS measurement, range finding, warning numerical information along leading line (34) and measurement section line (36), like Fig. 4, Fig. 5, shown in Figure 7.
Embodiment 9
The main controlling equipment (37) on the bank in measured waters (35) is made up of main control device (52), data communication radio station (26); Data communication radio station (26) is connected with main control device (52) through circuit; Main control device is provided with display screen on (52); Show the data message in the measuring process, data communication radio station (26) are connected with data communication radio station antenna (9) through lead, the leading line (34) of surveying vessel (30) is set and measures section line (36) through data communication radio station (26) through main control device (52); Reception sound the depth of the water data, gps measurement data, measuring distance data are revised the error that actual measurement occurs.The operation interface of the display screen that is provided with from main control device (52) obtains the parameter that shows flight path, sensor, reads the conversion of measuring section line, reading Loft Line and gps coordinate; Can implement parameter setting and data access through operation interface, like Fig. 4, Fig. 5, Fig. 7, shown in Figure 8.
Embodiment 10
The whole sectional making of the hull of surveying vessel (30); Adopt metal material or glass-reinforced plastic material; Independently be made into bow (1) and hull (2) separately; The leading section of the rearward end of bow (1) and hull (2) matches, and bow (1) the formation surveying vessel in aggregates (30) that is connected with hull (2) is under water behind the interior erecting equipment erection column of exploration hole (28) (11); Bow (1) and hull (2) link into an integrated entity through web member and constitute surveying vessel (30), bow (1) and hull (2) dismounting easily and transition transportation.
Bow (1) integral sealing is made, and bow (1) is the fore shape, and bow (1) top is the boat deck; Bow (1) leading section is most advanced and sophisticated; The rear end integral body of bow (1) is the plane, and the leading section of bow (1) rear end and hull (2) matches, and middle part, bow (1) rear end is made into the undersea detection hole (28) of Baltimore groove shape; The deck of boat penetrates into the hull bottom of bow (1) bottom from bow (1) top in undersea detection hole (28), like Fig. 1, Fig. 2, shown in Figure 3.
Embodiment 11
Equipment erection column (11) integral body is column; The middle part of equipment erection column (11) is installed in the undersea detection hole (28); The middle part of equipment erection column (11) and undersea detection hole (28) match; Equipment erection column (11) runs through undersea detection hole (28), and the boat bottom that bow (1) bottom is passed in undersea detection hole (28) is passed in the bottom of equipment erection column (11), and the top ends of the bottom of equipment erection column (11) is installed sounder probe (7); Sounder probe (7) is connected sounder (27) employing double frequency underwater bathy metry appearance through lead with sounder (27) on being installed in hull (2).
The boat deck that bow (1) top is passed in undersea detection hole (28) is passed in the upper end of equipment erection column (11); Keeping away of installation and control system hinders appearance (6) on the top of equipment erection column (11); Keep away barrier appearance (6) and adopt ultrasonic sensor, keep away barrier appearance (6) and be connected with industrial control computer (23) through circuit.
GPS receiver antenna (5) is installed by upper end portion at equipment erection column (11); GPS receiver antenna (5) is connected with GPS equipment (21) through lead; GPS equipment (21) adopts Configurator GP configuring S receiver, and data-out port 2 is the RS232 serial ports, and agreement is same as hyper terminal; The data output frequency is 10Hz, data output format GGA.
The GPS radio station antenna (8) and the GPS receiver antenna (5) of fixed installation positioning system are connected with GPS equipment (21) through lead on the deck of bow (1).
The data communication radio station antenna (9) of fixed installation communication system on the deck of bow (1); Data communication radio station antenna (9) is connected with data communication radio station (26) through lead, and data communication radio station (26) are connected with industrial control computer (23) through circuit.
The gyroscope (10) of fixed installation control system on the deck of bow (1), gyroscope (10) adopt the little inertia boat of MTi appearance system, and gyroscope (10) is connected with industrial control computer (23) through circuit, like Fig. 1, Fig. 2, shown in Figure 3.
Embodiment 12
Hull (2) integral body is carries the ship shape; Hull (2) adopts metal material or glass-reinforced plastic material; Hull (2) leading section integral body is the plane; The rearward end of the leading section of hull (2) and bow (1) matches; Be provided with on the hull (2) and carry cabin (4); Carry cabin (4) internal fixation installation data communication radio station (26), GPS radio station (25), sounder (27), GPS equipment (21), battery pack (24), power module (22) and industrial control computer (23), data communication radio station (26), GPS radio station (25), sounder (27), GPS equipment (21) are connected with industrial control computer (23) through circuit, and power module (22) is connected with battery pack (24) through circuit; The supply of control and power distribution is through the power supply of circuit supply data communication radio station (26), GPS radio station (25), sounder (27) and GPS equipment (21).
Hull hatchcover (12) is installed on the top of hull (2); Hull hatchcover (12) matches with hull (2); Solar panel (15) is installed at the top of hull hatchcover (12); Solar panel (15) covers the top of hull hatchcover (12), and solar panel (15) is connected with battery pack (24) through circuit, like Fig. 1, Fig. 2, shown in Figure 3.
Embodiment 13
The stern (3) of the tail end of hull (2) is installed the driving mechanism (13) of navigation course control system with installation clip (41); The top of driving mechanism (13) is engine (40); The bottom of driving mechanism (13) is drive unit (39) under water; The top ends of drive unit (39) is installed screw propeller (38) under water; Go up installation starter motor (46) at engine (40), install portfire, flameout switch and startup misfire detection circuit (50) on the starter motor (46), starter motor (46) is connected with industrial control computer (23) through circuit.The output terminal of engine (40) is connected with the input end of reductor (47); The output terminal of reductor (47) is connected with an end of transmission shaft (45), and the other end of transmission shaft (45) is connected with the screw propeller (38) of drive unit (39) end under water.Engine (40) is gone up incorporate throttle servo (48) is installed, and throttle servo (48) drives (49) with throttle and is connected, like Fig. 1, Fig. 2, Fig. 3, shown in Figure 6.
Embodiment 14
The stern (3) of hull (2) locates to install the course topworks (14) of navigation course control system; Course topworks (14) by carrier bar (43), fixedly chain pitch wheel (20), turn to chain drive-belt (19), photoelectric counter (17) and 3 to form near limit switch (16); Carrier bar (43) is installed in stern (3) and locates engine (40) corresponding section with driving mechanism (13); The both ends of carrier bar (43) fixedly mount fixedly chain pitch wheel (20) respectively; Two fixedly turn to chain drive-belt (19) around installation on the chain pitch wheel (20); Turn to chain drive-belt (19) with two fixedly chain pitch wheel (20) match; With driven by motor reductor drive fixing chain pitch wheel (20), fixedly chain pitch wheel (20) drives and turns to back and forth linear running of chain drive-belt (19), and motor is connected with industrial control computer (23) through circuit.
Photoelectric counter (17) and 3 arrange to be installed near limit switch 1 ~ 3 (16-1 ~ 3) in a side parallel equidistant that turns to chain drive-belt (19); Turn to the both ends of a side of chain drive-belt (19) to be provided with respectively near limit switch 1 (16-1) with near limit switch 3 (16-3); Limit switch 1 (16-1) and install near limit switch 2 (16-2) near the middle of limit switch 3 (16-3); Turn to an end of chain drive-belt (19) one sides that photoelectric counter (17) is installed; Photoelectric counter (17) is aimed at and is turned to chain drive-belt (19); Photoelectric counter (17) is connected with industrial control computer (23) through circuit near limit switch (16) with 3, and record turns to the quantity of the pitch in the reciprocal operational process of chain drive-belt (19), like Fig. 1, Fig. 2, shown in Figure 3.
Embodiment 15
Adopt IO module, AD module, PWM output and counting module to realize data acquisition and control in the industrial control computer (23); The IO module adopts Altay DAM-3024D; The IO module is gathered the data message near limit switch 1 ~ 3 (16-1 ~ 3); Detection through position signalling; Industrial control computer (23) sends instructions after data processing and starts or kill engine and adjust the course, and industrial control computer (23) is given main controlling equipment (37) through data communication radio station (26) real-time Transmission.
The AD module adopts DAM-3058R; The AD module is gathered engine (40) data message; Detection through position signalling; Industrial control computer (23) sends instructions after data processing and starts or kill engine and adjust the course or the speed of a ship or plane, and industrial control computer (23) is given main controlling equipment (37) through data communication radio station (26) real-time Transmission.
PWM output and counting module adopt great lattice i-7088; PWM output and counting module are gathered the data message of photoelectric counter (17); Through the detection of position signalling, industrial control computer (23) after data processing, the send instructions operation of adjustment engine (40) and the headway of control survey ship (30); Industrial control computer (23) is given main controlling equipment (37) through data communication radio station (26) real-time Transmission; Industrial control computer (23) through circuit and GPS equipment (21), GPS radio station (25), data communication radio station (26), sounder (27), gyroscope (10), keep away barrier appearance (6), the starter motor of engine (40) and the throttle servo of engine (40) and be connected.GPS equipment (25) links the information of implementing to revise positioning system through GPS radio station (25) and base station (29), resolves the three-dimensional coordinate of being put on the spot, like Fig. 1, Fig. 2, Fig. 3, Fig. 7, shown in Figure 8.
Embodiment 16
The base station on the bank (29) in measured waters (35) is made up of GPS equipment (25), GPS receiver antenna (5), GPS radio station (25) and GPS radio station antenna (8); GPS receiver antenna (5) is connected with GPS equipment (25) with lead; GPS radio station antenna (8) is connected with GPS radio station (25) with lead; The GPS equipment (25) of base station (29) and GPS receiver antenna (5) receive the gps signal of satellite constellation (32) for fixing fixed point; Surveying vessel (30) receives the gps signal of base station (29) through GPS radio station (25); The error of revising the numerical information of GPS is guaranteed the precision measured, resolves the three-dimensional coordinate of being put on the spot, like Fig. 4, Fig. 5, shown in Figure 7.
Embodiment 17
The remote control equipment on the bank (44) in measured waters (35) is made up of remote operation console (51), data communication radio station (26); Data communication radio station (26) is connected with remote operation console (51) with circuit; Data communication radio station (26) is connected with data communication radio station antenna (9) through lead; Remote operation console (51) is implemented navigation, course, the speed of a ship or plane, setting-out signal through data communication radio station (26) remote metering ship (30) along leading line (34) and measurement section line (36), like Fig. 4, Fig. 5, shown in Figure 7.
Embodiment 18
The main controlling equipment (37) on the bank in measured waters (35) is made up of main control device (52), data communication radio station (26); Data communication radio station (26) is connected with main control device (52) through circuit; Main control device is provided with display screen on (52); Show the data message in the measuring process; Data communication radio station (26) is connected with data communication radio station antenna (9) through lead, the leading line (34) of surveying vessel (30) is set and measures section line (36) through data communication radio station (26) through main control device (52), receives sound the depth of the water data, gps measurement data, measuring distance data; Revise the error that actual measurement occurs, like Fig. 4, Fig. 5, Fig. 7, shown in Figure 8.
Embodiment 19
Vehicle-mounted bow (1), hull (2), main controlling equipment (37), remote control equipment (44) and base station (29) are transported to the bank in the measured waters (35) that needs measurement; According to standard design leading line and the sample line data of measuring section line, reasonably set starting point and end point in advance; Be assembled into surveying vessel (30) to bow (1) and hull (2); In the stern (3) of surveying vessel (30) outside with installation clip (41) installing drive mechanism (13); Install base station (29), remote control equipment (44) and main controlling equipment (37) on the bank; The starting point that needs 1 surveying vessel (30) placement to measure the waters at least; Open surveying vessel (30), base station (29), remote control equipment (44) and main controlling equipment (37) in succession, the program initialization of surveying vessel (30), base station (29), remote control equipment (44) and main controlling equipment (37) starts and keeps away barrier appearance (6), gyroscope (10) and sounder (27); Collection keeps away the data message of barrier appearance (6), gyroscope (10) and sounder (27), confirms that data message is normal.
Set GPS radio station (25), the data communication radio station (26) of main controlling equipment (37), the data communication radio station (26) of remote control equipment (44), the data communication radio station (26) of surveying vessel (30) and the radio station communications parameter of GPS radio station (25) of base station (29); The data communication radio station (26) of the GPS radio station (25) of base station (29), the data communication radio station (26) of remote control equipment (44) and main controlling equipment (37) links with data communication radio station (26) and GPS radio station (25) of surveying vessel (30); Form carrying out shake communication, confirm that communication is normal.
Survey obstacle appearance (6) is sent by probe and accepts ultrasound wave, after the place ahead runs into barrier, and the barrier reflection supersonic wave; After probe is received reflection supersonic wave; Calculate by launching ultrasound wave by sensor, calculate distance and required time between surveying vessel (30) and the barrier, not only detect the barrier in the place ahead to the time that reflection supersonic wave is returned; Also detect the distance between surveying vessel (30) and the barrier, from the data message and the warning of display screen range of a signal.
Gyroscope (10) is monitored navigation direction, the side of surveying vessel (30) in real time and is shaken and just shake; For the control system of surveying vessel (30) provides the shipping agency data, guarantee that surveying vessel (30) hull that on leading line (34) and measurement section line (36), goes keeps correct attitude.
The GPS equipment (21) of surveying vessel (30) and the GPS equipment (21) of base station (29) are realized linking through data link (33) with satellite constellation (32), gather gps data, confirm that gps data is normal, implement the coordinate data conversion.Base station (29) is positioned on the fixing on the bank known point; Receive gps signal in real time; Simultaneously surveying vessel (30) data measured is compared, when surveying vessel (30) was implemented to measure at each measurement point, error appearred in the result that surveying vessel (30) is measured and the data of base station (29); Then pass to surveying vessel (30) to error through data communication radio station (26); Surveying vessel (30) receives that error information in time revises in real time, with the precision that guarantees that surveying vessel (30) is measured, like Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, shown in Figure 9.
Embodiment 20
Manipulation is at the main control device (52) of the main controlling equipment (37) on the bank of measured waters (35); Carry out the data setting and adjust parameter through data communication radio station (26) industrial control computer (23) surveying vessel (30); Send to the sample line data of leading line that designs in the database of main control device (52) (34) and measurement section line (36) in the industrial control computer (23) of surveying vessel (30); The industrial control computer (23) of surveying vessel (30) is decoded the sample line data of receiving, the data message after the conversion leaves in the special array.
Industrial control computer (23) carries out initialization to each module; After initialization finishes; The remote operation console (51) of controlling remote control equipment (44) sends instruction through data communication radio station (26) to industrial control computer (23), opens starter motor (46) igniting, and engine (40) starts; Whether start misfire detection circuit (50) detection of engine (40) detection of engine (40) starts; Engine (40) drives screw propeller (38) through reductor (47) and transmission shaft (45) and promotes surveying vessel (30), and surveying vessel (30) sets sail, like Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, shown in Figure 9.
Embodiment 18
Remote operation console (51) sends instruction through data communication radio station (26) to industrial control computer (23); Throttle servo (48) is regulated throttle and is driven (49) adjustment headway; Remote operation console (51) sends instruction through data communication radio station (26) to industrial control computer (23); The motor-driven of course topworks (14) is chain wheel (20) fixedly, turns to the operation of chain drive-belt (19) linear reciprocation, turns to chain drive-belt (19) to drive course control lever (18) rotating drive mechanism (13); The navigation direction of adjustment surveying vessel (30), surveying vessel (30) are measured starting point guide course line (34) navigation in waters from needs.
Surveying vessel (30) is sought leading line (34) through GPS equipment (21) in measured waters; Remote operation console (51) is controlled surveying vessel (30) through data communication radio station (26) and is got into leading line (34); Whether the position of the hull of adjustment surveying vessel (30) departs from leading line (34); The deflection of adjustment surveying vessel (30) is like Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, shown in Figure 9.
Embodiment 19
Surveying vessel (30) is sought along leading line (34) through GPS equipment (21) and is measured section line (36); Remote operation console (51) is controlled surveying vessel (30) through data communication radio station (26) and is got into measurement section line (36); Whether depart from the position of the hull of adjustment surveying vessel (30) is measured section line (36); Remote operation console (51) sends the distance that two sides are measured in instruction through data communication radio station (26) to industrial control computer (23); Remote operation console (51) is controlled surveying vessel (30) through data communication radio station (26) and is implemented the bottom is under water measured along measuring section line (36); Industrial control computer (23) storage of measurement data; Industrial control computer (23) is transferred to main controlling equipment (37) on the bank to measurement data through data communication radio station (26), like Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, shown in Figure 9.
Embodiment 20
Remote operation console (51) is controlled surveying vessel (30) through data communication radio station (26) and is got back to leading line (34); Implement to measure to the next section line (36) of measuring, reciprocation cycle operational measure to the last item is measured section line (36), underwater survey end-of-job; Remote operation console (51) is controlled surveying vessel (30) through data communication radio station (26) and is returned starting point from end point and pull in to shore; Close the equipment on the surveying vessel (30), dismounting surveying vessel (30) cuts out base station (29), remote control equipment (44) and main controlling equipment (37); Entrucking; Surveying work is all over, and leaves measured waters (35), like Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, shown in Figure 9.
Embodiment 18
Vehicle-mounted bow (1), hull (2), main controlling equipment (37), remote control equipment (44) and base station (29) are transported to the bank in the measured waters (35) that needs measurement; According to standard design leading line and the sample line data of measuring section line, reasonably set starting point and end point in advance; Be assembled into surveying vessel (30) to bow (1) and hull (2); In the stern (3) of surveying vessel (30) outside with installation clip (41) installing drive mechanism (13); Install base station (29) and main controlling equipment (37) on the bank; The starting point that needs surveying vessel (30) placement to measure the waters; Open surveying vessel (30), base station (29) and main controlling equipment (37) in succession, the program initialization of surveying vessel (30), base station (29) and main controlling equipment (37) starts and keeps away barrier appearance (6), gyroscope (10) and sounder (27); Collection keeps away the data message of barrier appearance (6), gyroscope (10) and sounder (27), confirms that data message is normal.
The radio station parameter in the data communication radio station (26) of the data communication radio station (26) of setting base station (29), the data communication radio station (26) of main controlling equipment (37) and surveying vessel (30); The data communication radio station (26) of base station (29) and the data communication radio station (26) of main controlling equipment (37) link with the data communication radio station (26) of surveying vessel (30); Form carrying out shake communication, confirm that communication is normal.
Survey obstacle appearance (6) is sent by probe and accepts ultrasound wave, after the place ahead runs into barrier, and the barrier reflection supersonic wave; After probe is received reflection supersonic wave; Calculate by launching ultrasound wave by sensor, calculate distance and required time between surveying vessel (30) and the barrier, not only detect the barrier in the place ahead to the time that reflection supersonic wave is returned; Also detect the distance between surveying vessel (30) and the barrier, from the data message and the warning of display screen range of a signal.
Gyroscope (10) is monitored navigation direction, the side of surveying vessel (30) in real time and is shaken and just shake; For the control system of surveying vessel (30) provides the shipping agency data, guarantee that surveying vessel (30) hull that on leading line (34) and measurement section line (36), goes keeps correct attitude.
The GPS equipment (21) of surveying vessel (30) and the GPS equipment (21) of base station (29) are realized linking through data link (33) with satellite constellation (32), gather gps data, confirm that gps data is normal, implement the coordinate data conversion.Base station (29) is positioned on the fixing on the bank known point; Receive gps signal in real time; Simultaneously surveying vessel (30) data measured is compared, when surveying vessel (30) was implemented to measure at each measurement point, error appearred in the result that surveying vessel (30) is measured and the data of base station (29); The GPS radio station (25) of surveying vessel (30) then passed to error through GPS radio station (25) by base station (29); Surveying vessel (30) receives that error information in time revises in real time, with the precision that guarantees that surveying vessel (30) is measured, like Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, shown in Figure 9.
Embodiment 19
Manipulation is at the main control device (52) of the main controlling equipment (37) on the bank of measured waters (35); Carry out the data setting and adjust parameter through data communication radio station (26) industrial control computer (23) surveying vessel (30); Send to the sample line data of leading line that designs in the database of main control device (52) (34) and measurement section line (36) in the industrial control computer (23) of surveying vessel (30); The industrial control computer (23) of surveying vessel (30) is decoded the sample line data of receiving; Data message after the conversion leaves in the special array, like Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, shown in Figure 9.
Embodiment 20
Industrial control computer (23) carries out initialization to each module; After initialization finishes; The main control device (52) of main controlling equipment (37) sends instruction through data communication radio station (26) to industrial control computer (23); Whether start starter motor (46) igniting, engine (40) starts, start misfire detection circuit (50) detection of engine (40) detection of engine (40) and start; Engine (40) drives screw propeller (38) through reductor (47) and transmission shaft (45) and promotes surveying vessel (30) navigation; The throttle servo (48) of surveying vessel (30) is regulated throttle and is driven (49) adjustment headway, and the motor-driven of course topworks (14) is chain wheel (20) fixedly, turns to the operation of chain drive-belt (19) linear reciprocation; Turn to chain drive-belt (19) to drive course control lever (18) rotating drive mechanism (13); The navigation direction of adjustment surveying vessel (30), starting point guide course line (34) navigation that surveying vessel (30) is measured the waters from needs is like Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, shown in Figure 9.
Embodiment 21
Surveying vessel (30) is sought leading line (34) through GPS equipment (21) in measured waters; Industrial control computer (23) gets into leading line (34) according to the sample line data manipulation surveying vessel (30) that has designed; Whether the position of the hull of adjustment surveying vessel (30) departs from leading line (34), the deflection of adjustment surveying vessel (30).Surveying vessel (30) is sought along leading line (34) through GPS equipment (21) and is measured section line (36); Industrial control computer (23) gets into according to the sample line data manipulation surveying vessel (30) that has designed and measures section line (36); Whether depart from the position of the hull of adjustment surveying vessel (30) is measured section line (36); Measure the distance of two sides; Surveying vessel (30) is implemented the bottom is under water implemented to measure along measuring section line (36); Industrial control computer (23) storage of measurement data, industrial control computer (23) is transferred to main controlling equipment (37) on the bank to measurement data through data communication radio station (26), like Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, shown in Figure 9.
Embodiment 22
Industrial control computer (23) sends instruction, gets back to leading line (34) according to the sample line data manipulation surveying vessel (30) that has designed, implements to measure to the next section line (36) of measuring; The sample line data that reciprocation cycle designs according to the waters of measuring at needs are implemented to measure; The last item to be measured is measured section line (36) and is finished, and industrial control computer (23) returns starting point according to the sample line data manipulation surveying vessel (30) that designs in advance and pulls in to shore, and closes the equipment on the surveying vessel (30); Dismounting surveying vessel (30); Close base station (29), remote control equipment (44) and main controlling equipment (37), entrucking, surveying work finishes; Leave measured waters (35), like Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, shown in Figure 9.

Claims (4)

1. bathymetric surveying ship; It is characterized in that forming by at least 1 surveying vessel (30), base station (29), main controlling equipment (37) and remote control equipment (44); Base station (29), main controlling equipment (37) and remote control equipment (44) are controlled in the enforcement on the bank of measured waters (35), and base station (29), main controlling equipment (37) and remote control equipment (44) are controlled many surveying vessels (30) simultaneously according to actual needs;
Surveying vessel (30) is made up of hull, control system, navigation course control system, positioning system, measuring system and communication system; The hull integral body of surveying vessel (30) is by bow (1) and the independent segmented separately formation of hull (2); Bow (1) integral sealing; Bow (1) top is the boat deck, and bow (1) leading section is most advanced and sophisticated, and the rear end integral body of bow (1) is the plane; The leading section of bow (1) rearward end and hull (2) matches; Bow (1) rear end middle part is provided with the undersea detection hole (28) of Baltimore groove shape, and undersea detection hole (28) deck of boat penetrates into the hull bottom of bow (1) bottom from bow (1) top, and the front end of the rear end of bow (1) and hull (2) is connected to form undersea detection hole (28); Be convenient to exploration hole (28) interior installation and removal equipment erection column (11) under water; Behind the interior erecting equipment erection column of exploration hole (28) (11), bow (1) and hull (2) link into an integrated entity through web member and form surveying vessel (30) under water, and bow (1) is convenient to dismounting and transition transportation with the split design of hull (2);
Equipment erection column (11) integral body is column; The middle part of equipment erection column (11) is fixedly mounted in the undersea detection hole (28); Equipment erection column (11) integral body is column; Equipment erection column (11) runs through undersea detection hole (28); The bottom of undersea detection hole (28) is passed in the bottom of equipment erection column (11), and the top ends of the bottom of equipment erection column (11) fixedly installs the sounder probe (7) of measuring system, and sounder probe (7) transmits under water and receives the signal of the measured bottom (31) reflected back; Sounder probe (7) is connected with sounder (27) through lead, and sounder probe (7) is directly surveyed landform, landforms and the degree of depth of the measured bottom (31) under water along measuring section line (36);
The top of undersea detection hole (28) is passed in the upper end of equipment erection column (11); Keeping away of installation and control system hinders appearance (6) on the top of equipment erection column (11); Keeping away barrier appearance (6) is connected with industrial control computer (23) through circuit; Keep away barrier appearance (6) and survey the barrier in surveying vessel (30) the place ahead and the distance between barrier and the ship; Prevent that fore from colliding object waterborne, and give the navigation of industrial control computer (23) adjustment surveying vessel (30) data information transfer that records; The GPS receiver antenna (5) of the top ends mounting positioning of equipment erection column (11); GPS receiver antenna (5) is connected with GPS equipment (21) through lead; Receive the information of Aerospace Satellite constellation (32) navigation positioning system; Base station (29) resolves and obtains the three-dimensional coordinate in place on the spot for the gps signal of fixing fixed point reception satellite constellation (32), surveying vessel (30) receives base station (29) update information by GPS radio station (25);
GPS radio station antenna (8), the data communication radio station antenna (9) of communication system and the gyroscope (10) of control system of fixed installation positioning system on the deck of bow (1); GPS radio station antenna (8) is connected with GPS radio station (25) through lead; Receive the information that base station (29) is revised positioning system through GPS radio station (25), resolve and obtain the three-dimensional coordinate in place on the spot;
Data communication radio station antenna (9) is connected with data communication radio station (26) through lead; Data communication radio station (26) is connected with industrial control computer (23) through circuit; Be connected with base station (29) through data link (33); Industrial control computer (23) receives the instruction that main controlling equipment (37) sends, the numerical information between round-trip transmission master's controlling equipment (37) and the industrial control computer (23);
The gyroscope (10) of the leading section fixed installation control system on bow (1) deck; Gyroscope (10) is connected with industrial control computer (23) through circuit; Gyroscope (10) is monitored navigation direction, the side of surveying vessel (30) in real time and is shaken and just shake; For the navigation course control system of industrial control computer (23) provides the aeronautical data of surveying vessel (30), implement resolving of real-time attitude matrix, guarantee that surveying vessel (30) goes according to leading line (34);
Hull (2) integral body is carries the ship shape; Be provided with on the hull (2) and carry cabin (4); The stern (3) of the tail end of hull (2) is provided with the driving mechanism (13) of navigation course control system through installation clip (41), and driving mechanism (13) drives the navigation of surveying vessel (30), and hull hatchcover (12) is installed on the top of hull (2); Hull hatchcover (12) matches with hull (2); Hull hatchcover (12) blocks protection and carries the equipment in the cabin (4), and solar panel (15) is installed at the top of hull hatchcover (12), and solar panel (15) covers the top of hull hatchcover (12); Solar panel (15) is connected with battery pack (24) through circuit, carries power supply to battery pack (24);
Carry cabin (4) internal fixation installation data communication radio station (26), GPS radio station (25), sounder (27), GPS equipment (21), battery pack (24), power module (22) and industrial control computer (23); The GPS radio station (25) of positioning system is connected with the industrial control computer (23) of control system through circuit with GPS equipment (21); Implementing the location controls; The sounder of measuring system (27) is connected with the industrial control computer (23) of control system through circuit; Implement to measure and control; The data communication radio station (26) of communication system is connected with the industrial control computer (23) of control system through circuit; Industrial control computer (23) links controlling of setting, transfer data information, reception instruction and the verification locator data of implementing communication, measurement data through data communication radio station (26) and main controlling equipment (37) and remote control equipment (44); Industrial control computer (23) links the information of implementing to revise positioning system through GPS radio station (25) and base station (29), resolves the three-dimensional coordinate of being put on the spot; Battery pack (24) is connected with data communication radio station (26), GPS radio station (25), sounder (27), GPS equipment (21) parallel connection through circuit with power module (22), and power module (22) Control Allocation battery pack (24) is supplied with the power supply of data communication radio station (26), GPS radio station (25), sounder (27), GPS equipment (21);
The cabin external application installation clip (41) of stern (3) is installed the driving mechanism (13) of the surveying vessel (30) of navigation course control system; The top of driving mechanism (13) is engine (40); The bottom of driving mechanism (13) is drive unit (39) under water; The top ends of drive unit (39) is installed screw propeller (38) under water, through operation driving surveying vessel (30) the navigating by water along leading line (34) and measurement section line (36) in measured waters (35) of driving mechanism (13);
Engine (40) is gone up starter motor (46) is installed; Starter motor (46) is made up of portfire, flameout switch and startup misfire detection circuit (50); Engine (40) adopts the electricity sparking to start; Starter motor (46) is connected with industrial control computer (23) through circuit; The instruction that starter motor (46) is accepted industrial control computer (23) starts or kill engine (40), and main controlling equipment (37) or remote control equipment (44), stop working and shut down or ignition trigger engine (40) to industrial control computer (23) issuing command through data communication radio station (26); Whether starting engine (40) back starts misfire detection circuit (50) detection of engine (40) and starts, and does not start to continue to start;
The output terminal of engine (40) is connected with the input end of reductor (47); Reductor (47) increases output torque and the stability that improves rudder for ship; The output terminal of reductor (47) is connected with an end of transmission shaft (45), and the other end of transmission shaft (45) is connected with the screw propeller (38) of drive unit (39) end under water;
Engine (40) is gone up incorporate throttle servo (48) is installed; Throttle servo (48) drives (49) with throttle and is connected; Throttle servo (48) is regulated throttle driving (49) throttle is implemented to strengthen or reduce volume read-out; The adjustment headway, throttle servo (48) is connected with industrial control computer (23) through circuit, accepts the speed of instruction adjustment surveying vessel (30) navigation of industrial control computer (23) issue;
Engine (40) and the whole Rotate 180 of drive unit (39) under water Zero Operation; One end of course control lever (18) and engine (40) fixed installation; Course control lever (18) is whole shaft-like; The course control lever is provided with slideway on (18), and course control lever (18) is gone up slide bar web member (42) is installed, and slide bar web member (42) moves back and forth along the slideway on the course control lever (18); Slide bar web member (42) with turn to the middle part of chain drive-belt (19) to be connected to a fixed, slide bar web member (42) is together with engine (40) and the whole Rotate 180 of drive unit (39) under water Zero Operation is through slide bar web member (42) UNICOM's driving mechanism (13) and course topworks (14);
The course topworks (14) of navigation course control system is installed by stern (3) portion of hull (2); Course topworks (14) by carrier bar (43), fixedly chain pitch wheel (20), turn to chain drive-belt (19), photoelectric counter (17) and 3 to form near limit switch (16); Carrier bar (43) is installed in stern (3) and locates corresponding with the engine (40) of driving mechanism (13); The both ends of carrier bar (43) fixedly install fixedly chain wheel (20) respectively; Two fixedly chain pitch wheel (20) is last around turning to chain drive-belt (19); Turn to chain drive-belt (19) with two fixedly chain pitch wheel (20) match; Through driven by motor reductor drive fixing chain pitch wheel (20), fixedly chain pitch wheel (20) drives and turns to chain drive-belt (19) to constitute reciprocal linear running, and motor is connected with industrial control computer (23) through circuit; Motor is accepted the instruction of industrial control computer (23) and is implemented reciprocal linear running, and the rotating operation track of driving mechanism (13) moves in the reciprocal linear running track scope of chain drive-belt (19);
The parallel installation photoelectric counter of a side (17) and 3 that turn to chain drive-belt (19) are near limit switch (16); 3 near limit switch (16) equidistance arrangement setting; Photoelectric counter (17) is connected with industrial control computer (23) through circuit near limit switch (16) with 3, turns to the numerical information of chain drive-belt (19) running status to industrial control computer (23) transmission;
Turn to the both ends of a side of chain drive-belt (19) to be provided with respectively near limit switch 1 (16-1) with near limit switch 3 (16-3); Near limit switch 1 (16-1) and near limit switch 3 (16-3) to course control lever (18) implement Stroke Control and spacing and measure turn to chain drive-belt (19) back and forth operation speed, calculate and turn to the back and forth quantity of the pitch of operation of chain drive-belt (19), 180 of the engine (40) of driving mechanism (13) Zero The rotating operation track is included in the track of the reciprocal linear running that turns to chain drive-belt (19) of course topworks (14); The top ends that is installed in the slide bar web member (42) on the engine (40) is aimed near limit switch 1 (16-1) or near limit switch 3 (16-3); The left steering or the right turn of surveying vessel (30) have arrived the limit; Implement to report to the police to industrial control computer (23) near limit switch 1 (16-1) or near limit switch 3 (16-3), industrial control computer (23) is in time adjusted the course of surveying vessel (30) after data processing;
Be provided with near limit switch 2 (16-2) at limit switch 1 (16-1) with near the middle of limit switch 3 (16-3); Near limit switch 2 (16-2) to course control lever (18) implement Stroke Control and spacing and measure turn to chain drive-belt (19) back and forth operation speed, calculate and turn to the back and forth quantity of the pitch of operation of chain drive-belt (19); Course control lever (18) top ends playback aim near limit switch 2 (16-2) then photoelectric counter (17) restart log data information with 3 near limit switch (16) data zero clearing, to course control lever (18) implement Stroke Control and spacing and measure turn to chain drive-belt (19) back and forth operation speed, calculate the quantity that turns to the pitch that chain drive-belt (19) back and forth moves and to industrial control computer (23) transmitting data information;
Turn to an end of chain drive-belt (19) one sides that photoelectric counter (17) is set; Photoelectric counter (17) is aimed at and is turned to chain drive-belt (19); Turn to back and forth linear running of chain drive-belt (19); Turn to the bearing pin of chain drive-belt (19) to cut the light beam that luminotron sends, the Column being luminous that a photoelectric counter of every cutting (17) luminotron sends then writes down a number, and institute's numerical values recorded is for turning to the back and forth quantity of the pitch of operation of chain drive-belt (19); And to industrial control computer (23) transmitting data information; For fear of the error of photoelectric counter (17), through 3 near limit switch (16) counts corrected error, the course of guaranteeing correct control survey ship (30);
Adopt IO module, AD module, PWM output and counting module to realize data acquisition and control in the industrial control computer (23); The IO module is gathered the data message near limit switch 1 ~ 3 (16-1 ~ 3); Give industrial control computer (23) data information transfer; Detection through position signalling; Industrial control computer (23) sends instructions after data processing and starts or kill engine and adjust the course, and industrial control computer (23) is given main controlling equipment (37) through data communication radio station (26) real-time Transmission; The AD module is gathered engine (40) data message; Give industrial control computer (23) data information transfer; Through the detection of position signalling, industrial control computer (23) sends instructions after data processing and starts or kill engine and adjust the course, and industrial control computer (23) is given main controlling equipment (37) through data communication radio station (26) real-time Transmission; Main controlling equipment is provided with display screen on (37), shows the data message in the measuring process; PWM output and counting module are gathered the data message of photoelectric counter (17); Give industrial control computer (23) data information transfer; Detection through position signalling; Industrial control computer (23) after data processing, send instructions operation and the headway of control survey ship (30) of adjustment engine (40), industrial control computer (23) is given main controlling equipment (37) through data communication radio station (26) real-time Transmission;
Industrial control computer (23) through circuit and GPS equipment (21), GPS radio station (25), data communication radio station (26), sounder (27), gyroscope (10), keep away barrier appearance (6), the starter motor (46) of engine (40) and the throttle servo (48) of engine (40) and be connected; The operation interface of the display screen that is provided with from main controlling equipment (37) obtains and shows flight path, the parameter of sensor, the conversion of reading slotted line, reading Loft Line and gps coordinate, can implement parameter setting and data access through operation interface;
The base station on the bank (29) in measured waters (35) is made up of GPS equipment (21), GPS receiver antenna (5), GPS radio station (25) and GPS radio station antenna (8); GPS receiver antenna (5) is connected with GPS equipment (25) through lead; GPS equipment (25) links with satellite constellation (32) through data link (33); Obtain GPS information; GPS equipment (25) is connected with GPS radio station (25) through circuit, and GPS radio station antenna (8) is connected with GPS radio station (25) through lead, and the GPS equipment (25) of base station (29) and GPS receiver antenna (5) receive the gps signal of satellite constellation (32) for fixing fixed point; Surveying vessel (30) resolves the three-dimensional coordinate of being put on the spot through the numerical information of the gps signal correction gps signal of GPS radio station (25) reception base station (29);
The remote control equipment on the bank (44) in measured waters (35) is made up of remote operation console (51), data communication radio station (26); Data communication radio station (26) is connected with remote operation console (51) through circuit; Data communication radio station (26) is connected with data communication radio station antenna (9) through lead; Control navigation, course, the speed of a ship or plane, the setting-out signal of surveying vessel (30) through remote operation console (51) through data communication radio station (26), along leading line (34) with measure section line (36) and implement bathymetric survey, GPS measurement, range finding, warning numerical information;
The main controlling equipment (37) on the bank in measured waters (35) is made up of main control device (52), data communication radio station (26); Data communication radio station (26) is connected with main control device (52) through circuit; Main control device is provided with display screen on (52); Show the data message in the measuring process, data communication radio station (26) are connected with data communication radio station antenna (9) through lead, the leading line (34) of surveying vessel (30) is set and measures section line (36) through data communication radio station (26) through main control device (52); Reception sound the depth of the water data, gps measurement data, measuring distance data are revised the error that actual measurement occurs; The operation interface of the display screen that is provided with from main control device (52) obtains the parameter that shows flight path, sensor, reads the conversion of measuring section line, reading Loft Line and gps coordinate, can implement parameter setting and data access through operation interface.
2. make the method for making of the described bathymetric surveying ship of claim 1; The whole sectional making of hull that it is characterized in that described surveying vessel (30); Adopt metal material or glass-reinforced plastic material, independently be made into bow (1) and hull (2) separately, the leading section of the rearward end of bow (1) and hull (2) matches; Bow (1) the formation surveying vessel in aggregates (30) that is connected with hull (2); Behind the interior erecting equipment erection column of exploration hole (28) (11), bow (1) and hull (2) link into an integrated entity through web member and constitute surveying vessel (30) under water, bow (1) and hull (2) dismounting easily and transition transportation;
Bow (1) integral sealing is made; Bow (1) is the fore shape, and bow (1) top is the boat deck, and bow (1) leading section is most advanced and sophisticated; The rear end integral body of bow (1) is the plane; The leading section of bow (1) rear end and hull (2) matches, and bow (1) rear end middle part is made into the undersea detection hole (28) of Baltimore groove shape, and undersea detection hole (28) deck of boat penetrates into the hull bottom of bow (1) bottom from bow (1) top;
Equipment erection column (11) integral body is column; The middle part of equipment erection column (11) is installed in the undersea detection hole (28); The middle part of equipment erection column (11) and undersea detection hole (28) match; Equipment erection column (11) runs through undersea detection hole (28), and the boat bottom that bow (1) bottom is passed in undersea detection hole (28) is passed in the bottom of equipment erection column (11), and the top ends of the bottom of equipment erection column (11) is installed sounder probe (7); Sounder probe (7) is connected sounder (27) employing double frequency underwater bathy metry appearance through lead with sounder (27) on being installed in hull (2);
The boat deck that bow (1) top is passed in undersea detection hole (28) is passed in the upper end of equipment erection column (11); Keeping away of installation and control system hinders appearance (6) on the top of equipment erection column (11); Keep away barrier appearance (6) and adopt ultrasonic sensor, keep away barrier appearance (6) and be connected with industrial control computer (23) through circuit;
GPS receiver antenna (5) is installed by upper end portion at equipment erection column (11); GPS receiver antenna (5) is connected with GPS equipment (21) through lead; GPS equipment (21) adopts Configurator GP configuring S receiver, and data-out port 2 is the RS232 serial ports, and agreement is same as hyper terminal; The data output frequency is 10Hz, data output format GGA;
The GPS radio station antenna (8) and the GPS receiver antenna (5) of fixed installation positioning system are connected with GPS equipment (21) through lead on the deck of bow (1); The data communication radio station antenna (9) of fixed installation communication system on the deck of bow (1); Data communication radio station antenna (9) is connected with data communication radio station (26) through lead, and data communication radio station (26) are connected with industrial control computer (23) through circuit; The gyroscope (10) of fixed installation control system on the deck of bow (1), gyroscope (10) adopt the little inertia boat of MTi appearance system, and gyroscope (10) is connected with industrial control computer (23) through circuit;
Hull (2) integral body is carries the ship shape; Hull (2) adopts metal material or glass-reinforced plastic material; Hull (2) leading section integral body is the plane; The rearward end of the leading section of hull (2) and bow (1) matches; Be provided with on the hull (2) and carry cabin (4); Carry cabin (4) internal fixation installation data communication radio station (26), GPS radio station (25), sounder (27), GPS equipment (21), battery pack (24), power module (22) and industrial control computer (23), data communication radio station (26), GPS radio station (25), sounder (27), GPS equipment (21) are connected with industrial control computer (23) through circuit, and power module (22) is connected with battery pack (24) through circuit; The supply of control and power distribution is through the power supply of circuit supply data communication radio station (26), GPS radio station (25), sounder (27) and GPS equipment (21);
Hull hatchcover (12) is installed on the top of hull (2); Hull hatchcover (12) matches with hull (2); Solar panel (15) is installed at the top of hull hatchcover (12); Solar panel (15) covers the top of hull hatchcover (12), and solar panel (15) is connected with battery pack (24) through circuit;
The stern (3) of the tail end of hull (2) is installed the driving mechanism (13) of navigation course control system with installation clip (41); The top of driving mechanism (13) is engine (40); The bottom of driving mechanism (13) is drive unit (39) under water; The top ends of drive unit (39) is installed screw propeller (38) under water; Go up installation starter motor (46) at engine (40); Install portfire, flameout switch and startup misfire detection circuit (50) on the starter motor (46), starter motor (46) is connected with industrial control computer (23) through circuit, and the output terminal of engine (40) is connected with the input end of reductor (47); The output terminal of reductor (47) is connected with an end of transmission shaft (45), and the other end of transmission shaft (45) is connected with the screw propeller (38) of drive unit (39) end under water; Engine (40) is gone up incorporate throttle servo (48) is installed, and throttle servo (48) drives (49) with throttle and is connected;
The stern (3) of hull (2) locates to install the course topworks (14) of navigation course control system; Course topworks (14) by carrier bar (43), fixedly chain pitch wheel (20), turn to chain drive-belt (19), photoelectric counter (17) and 3 to form near limit switch (16); Carrier bar (43) is installed in stern (3) and locates engine (40) corresponding section with driving mechanism (13); The both ends of carrier bar (43) fixedly mount fixedly chain pitch wheel (20) respectively; Two fixedly turn to chain drive-belt (19) around installation on the chain pitch wheel (20); Turn to chain drive-belt (19) with two fixedly chain pitch wheel (20) match; With driven by motor reductor drive fixing chain pitch wheel (20), fixedly chain pitch wheel (20) drives and turns to back and forth linear running of chain drive-belt (19), and motor is connected with industrial control computer (23) through circuit;
Photoelectric counter (17) and 3 arrange to be installed near limit switch 1 ~ 3 (16-1 ~ 3) in a side parallel equidistant that turns to chain drive-belt (19); Turn to the both ends of a side of chain drive-belt (19) to be provided with respectively near limit switch 1 (16-1) with near limit switch 3 (16-3); Limit switch 1 (16-1) and install near limit switch 2 (16-2) near the middle of limit switch 3 (16-3); Turn to an end of chain drive-belt (19) one sides that photoelectric counter (17) is installed; Photoelectric counter (17) is aimed at and is turned to chain drive-belt (19); Photoelectric counter (17) is connected with industrial control computer (23) through circuit near limit switch (16) with 3, and record turns to the quantity of the pitch in the reciprocal operational process of chain drive-belt (19);
Adopt IO module, AD module, PWM output and counting module to realize data acquisition and control in the industrial control computer (23); The IO module adopts Altay DAM-3024D; The IO module is gathered the data message near limit switch 1 ~ 3 (16-1 ~ 3); Detection through position signalling; Industrial control computer (23) sends instructions after data processing and starts or kill engine and adjust the course, and industrial control computer (23) is given main controlling equipment (37) through data communication radio station (26) real-time Transmission; The AD module adopts DAM-3058R; The AD module is gathered engine (40) data message; Detection through position signalling; Industrial control computer (23) sends instructions after data processing and starts or kill engine and adjust the course or the speed of a ship or plane, and industrial control computer (23) is given main controlling equipment (37) through data communication radio station (26) real-time Transmission; PWM output and counting module adopt great lattice i-7088; PWM output and counting module are gathered the data message of photoelectric counter (17); Through the detection of position signalling, industrial control computer (23) after data processing, the send instructions operation of adjustment engine (40) and the headway of control survey ship (30); Industrial control computer (23) is given main controlling equipment (37) through data communication radio station (26) real-time Transmission; Industrial control computer (23) through circuit and GPS equipment (21), GPS radio station (25), data communication radio station (26), sounder (27), gyroscope (10), keep away barrier appearance (6), the starter motor of engine (40) and the throttle servo of engine (40) and be connected; GPS equipment (25) links the information of implementing to revise positioning system through GPS radio station (25) and base station (29), resolves the three-dimensional coordinate of being put on the spot;
The base station on the bank (29) in measured waters (35) is made up of GPS equipment (25), GPS receiver antenna (5), GPS radio station (25) and GPS radio station antenna (8); GPS receiver antenna (5) is connected with GPS equipment (25) with lead; GPS radio station antenna (8) is connected with GPS radio station (25) with lead; The GPS equipment (25) of base station (29) and GPS receiver antenna (5) receive the gps signal of satellite constellation (32) for fixing fixed point; Surveying vessel (30) receives the gps signal of base station (29) through GPS radio station (25); The error of revising the numerical information of GPS is guaranteed the precision measured, resolves the three-dimensional coordinate of being put on the spot;
The remote control equipment on the bank (44) in measured waters (35) is made up of remote operation console (51), data communication radio station (26); Data communication radio station (26) is connected with remote operation console (51) with circuit; Data communication radio station (26) is connected with data communication radio station antenna (9) through lead, and remote operation console (51) is implemented navigation, course, the speed of a ship or plane, setting-out signal through data communication radio station (26) remote metering ship (30) along leading line (34) and measurement section line (36);
The main controlling equipment (37) on the bank in measured waters (35) is made up of main control device (52), data communication radio station (26); Data communication radio station (26) is connected with main control device (52) through circuit; Main control device is provided with display screen on (52); Show the data message in the measuring process, data communication radio station (26) are connected with data communication radio station antenna (9) through lead, the leading line (34) of surveying vessel (30) is set and measures section line (36) through data communication radio station (26) through main control device (52); Reception sound the depth of the water data, gps measurement data, measuring distance data are revised the error that actual measurement occurs.
3. the measuring method of bathymetric surveying ship as claimed in claim 1; It is characterized in that described vehicle-mounted bow (1), hull (2), main controlling equipment (37), remote control equipment (44) and base station (29) are transported to the bank in the measured waters (35) of needs measurement; According to standard design leading line and the sample line data of measuring section line, reasonably set starting point and end point in advance; Be assembled into surveying vessel (30) to bow (1) and hull (2); In the stern (3) of surveying vessel (30) outside with installation clip (41) installing drive mechanism (13); Install base station (29), remote control equipment (44) and main controlling equipment (37) on the bank; The starting point that needs 1 surveying vessel (30) placement to measure the waters at least; Open surveying vessel (30), base station (29), remote control equipment (44) and main controlling equipment (37) in succession, the program initialization of surveying vessel (30), base station (29), remote control equipment (44) and main controlling equipment (37) starts and keeps away barrier appearance (6), gyroscope (10) and sounder (27); Collection keeps away the data message of barrier appearance (6), gyroscope (10) and sounder (27), confirms that data message is normal;
Set GPS radio station (25), the data communication radio station (26) of main controlling equipment (37), the data communication radio station (26) of remote control equipment (44), the data communication radio station (26) of surveying vessel (30) and the radio station communications parameter of GPS radio station (25) of base station (29); The data communication radio station (26) of the GPS radio station (25) of base station (29), the data communication radio station (26) of remote control equipment (44) and main controlling equipment (37) links with data communication radio station (26) and GPS radio station (25) of surveying vessel (30); Form carrying out shake communication, confirm that communication is normal;
Survey obstacle appearance (6) is sent by probe and accepts ultrasound wave, after the place ahead runs into barrier, and the barrier reflection supersonic wave; After probe is received reflection supersonic wave; Calculate by launching ultrasound wave by sensor, calculate distance and required time between surveying vessel (30) and the barrier, not only detect the barrier in the place ahead to the time that reflection supersonic wave is returned; Also detect the distance between surveying vessel (30) and the barrier, from the data message and the warning of display screen range of a signal;
Gyroscope (10) is monitored navigation direction, the side of surveying vessel (30) in real time and is shaken and just shake; For the control system of surveying vessel (30) provides the shipping agency data, guarantee that surveying vessel (30) hull that on leading line (34) and measurement section line (36), goes keeps correct attitude;
The GPS equipment (21) of surveying vessel (30) and the GPS equipment (21) of base station (29) are realized linking through data link (33) with satellite constellation (32), gather gps data, confirm that gps data is normal, implement the coordinate data conversion; Base station (29) is positioned on the fixing on the bank known point; Receive gps signal in real time, simultaneously surveying vessel (30) data measured is compared, when surveying vessel (30) is implemented to measure at each measurement point; Error appears in the result that surveying vessel (30) is measured and the data of base station (29); Then pass to surveying vessel (30) to error through data communication radio station (26), surveying vessel (30) receives that error information in time revises in real time, with the precision that guarantees that surveying vessel (30) is measured;
Manipulation is at the main control device (52) of the main controlling equipment (37) on the bank of measured waters (35); Carry out the data setting and adjust parameter through data communication radio station (26) industrial control computer (23) surveying vessel (30); Send to the sample line data of leading line in the database of main control device (52) (34) and measurement section line (36) in the industrial control computer (23) of surveying vessel (30); The industrial control computer (23) of surveying vessel (30) is decoded the sample line data of receiving, the data message after the conversion leaves in the special array;
Industrial control computer (23) carries out initialization to each module; After initialization finishes; The remote operation console (51) of controlling remote control equipment (44) sends instruction through data communication radio station (26) to industrial control computer (23); Whether open starter motor (46) igniting, engine (40) starts, start misfire detection circuit (50) detection of engine (40) detection of engine (40) and start; Engine (40) drives screw propeller (38) through reductor (47) and transmission shaft (45) and promotes surveying vessel (30), and surveying vessel (30) sets sail; Remote operation console (51) sends instruction through data communication radio station (26) to industrial control computer (23); Throttle servo (48) is regulated throttle and is driven (49) adjustment headway; Remote operation console (51) sends instruction through data communication radio station (26) to industrial control computer (23); The motor-driven of course topworks (14) is chain wheel (20) fixedly, turns to the operation of chain drive-belt (19) linear reciprocation, turns to chain drive-belt (19) to drive course control lever (18) rotating drive mechanism (13); The navigation direction of adjustment surveying vessel (30), surveying vessel (30) are measured starting point guide course line (34) navigation in waters from needs;
Surveying vessel (30) is sought leading line (34) through GPS equipment (21) in measured waters; Remote operation console (51) is controlled surveying vessel (30) through data communication radio station (26) and is got into leading line (34); Whether the position of the hull of adjustment surveying vessel (30) departs from leading line (34), the deflection of adjustment surveying vessel (30);
Surveying vessel (30) is sought along leading line (34) through GPS equipment (21) and is measured section line (36); Remote operation console (51) is controlled surveying vessel (30) through data communication radio station (26) and is got into measurement section line (36); Whether depart from the position of the hull of adjustment surveying vessel (30) is measured section line (36); Remote operation console (51) sends the distance that two sides are measured in instruction through data communication radio station (26) to industrial control computer (23); Remote operation console (51) is controlled surveying vessel (30) through data communication radio station (26) and is implemented the bottom is under water measured along measuring section line (36); Industrial control computer (23) storage of measurement data, industrial control computer (23) is transferred to main controlling equipment (37) on the bank to measurement data through data communication radio station (26);
Remote operation console (51) is controlled surveying vessel (30) through data communication radio station (26) and is got back to leading line (34), implements to measure to the next section line (36) of measuring, and reciprocation cycle operational measure to the last item is measured section line (36); The underwater survey end-of-job; Remote operation console (51) is controlled surveying vessel (30) through data communication radio station (26) and is returned starting point from end point and pull in to shore, and closes the equipment on the surveying vessel (30), dismounting surveying vessel (30); Close base station (29), remote control equipment (44) and main controlling equipment (37); Entrucking, surveying work is all over, and leaves measured waters (35).
4. the measuring method of bathymetric surveying ship as claimed in claim 1; It is characterized in that described vehicle-mounted bow (1), hull (2), main controlling equipment (37), remote control equipment (44) and base station (29) are transported to the bank in the measured waters (35) of needs measurement; According to standard design leading line and the sample line data of measuring section line, reasonably set starting point and end point in advance; Be assembled into surveying vessel (30) to bow (1) and hull (2); Install base station (29) and main controlling equipment (37) on the bank; The starting point that needs surveying vessel (30) placement to measure the waters; Open surveying vessel (30), base station (29), remote control equipment (44) and main controlling equipment (37) in succession, the program initialization of surveying vessel (30), base station (29), remote control equipment (44) and main controlling equipment (37) starts and keeps away barrier appearance (6), gyroscope (10) and sounder (27); Collection keeps away the data message of barrier appearance (6), gyroscope (10) and sounder (27), confirms that data message is normal; The radio station parameter in the data communication radio station (26) of the data communication radio station (26) of setting base station (29), the data communication radio station (26) of main controlling equipment (37) and surveying vessel (30); The data communication radio station (26) of base station (29) and the data communication radio station (26) of main controlling equipment (37) link with the data communication radio station (26) of surveying vessel (30); Form carrying out shake communication, confirm that communication is normal;
Survey obstacle appearance (6) is sent by probe and accepts ultrasound wave, after the place ahead runs into barrier, and the barrier reflection supersonic wave; After probe is received reflection supersonic wave; Calculate by launching ultrasound wave by sensor, calculate distance and required time between surveying vessel (30) and the barrier, not only detect the barrier in the place ahead to the time that reflection supersonic wave is returned; Also detect the distance between surveying vessel (30) and the barrier, from the data message and the warning of display screen range of a signal;
Gyroscope (10) is monitored navigation direction, the side of surveying vessel (30) in real time and is shaken and just shake; For the control system of surveying vessel (30) provides the shipping agency data, guarantee that surveying vessel (30) hull that on leading line (34) and measurement section line (36), goes keeps correct attitude;
The GPS equipment (21) of surveying vessel (30) and the GPS equipment (21) of base station (29) are realized linking through data link (33) with satellite constellation (32), gather gps data, confirm that gps data is normal, implement the coordinate data conversion; Base station (29) is positioned on the fixing on the bank known point; Receive gps signal in real time; Simultaneously surveying vessel (30) data measured is compared; When surveying vessel (30) was implemented to measure at each measurement point, error appearred in the result that surveying vessel (30) is measured and the data of base station (29), and the GPS radio station (25) of surveying vessel (30) then passed to error through GPS radio station (25) by base station (29); Surveying vessel (30) receives that error information in time revises in real time, with the precision that guarantees that surveying vessel (30) is measured;
Manipulation is at the main control device (52) of the main controlling equipment (37) on the bank of measured waters (35); Carry out the data setting and adjust parameter through data communication radio station (26) industrial control computer (23) surveying vessel (30); Send to the sample line data of leading line that designs in the database of main control device (52) (34) and measurement section line (36) in the industrial control computer (23) of surveying vessel (30); The industrial control computer (23) of surveying vessel (30) is decoded the sample line data of receiving, the data message after the conversion leaves in the special array;
Industrial control computer (23) carries out initialization to each module; After initialization finished, the main control device (52) of main controlling equipment (37) sent instruction through data communication radio station (26) to industrial control computer (23), started starter motor (46) igniting; Engine (40) starts; Whether start misfire detection circuit (50) detection of engine (40) detection of engine (40) and start, engine (40), surveying vessel (30) sets sail if driving screw propeller (38) through reductor (47) and transmission shaft (45) and promoting surveying vessel (30); Throttle servo (48) is regulated throttle and is driven (49) adjustment headway; The motor-driven of course topworks (14) is chain wheel (20) fixedly, turns to the operation of chain drive-belt (19) linear reciprocation, turns to chain drive-belt (19) to drive course control lever (18) rotating drive mechanism (13); The navigation direction of adjustment surveying vessel (30), surveying vessel (30) are measured starting point guide course line (34) navigation in waters from needs;
Surveying vessel (30) is sought leading line (34) through GPS equipment (21) in measured waters; Industrial control computer (23) gets into leading line (34) according to the sample line data manipulation surveying vessel (30) that has designed; Whether the position of the hull of adjustment surveying vessel (30) departs from leading line (34), the deflection of adjustment surveying vessel (30); Surveying vessel (30) is sought along leading line (34) through GPS equipment (21) and is measured section line (36); Industrial control computer (23) gets into according to the sample line data manipulation surveying vessel (30) that has designed and measures section line (36); Whether depart from the position of the hull of adjustment surveying vessel (30) is measured section line (36); Measure the distance of two sides; Surveying vessel (30) is implemented the bottom is under water implemented to measure along measuring section line (36), industrial control computer (23) storage of measurement data, and industrial control computer (23) is transferred to main controlling equipment (37) on the bank to measurement data through data communication radio station (26);
Industrial control computer (23) sends instruction; Sample line data manipulation surveying vessel (30) according to having designed is got back to leading line (34), implements to measure to the next section line (36) of measuring, and the sample line data that reciprocation cycle designs according to the waters of measuring at needs are implemented to measure; The last item to be measured is measured section line (36) and is finished; Industrial control computer (23) returns starting point according to the sample line data manipulation surveying vessel (30) that has designed and pulls in to shore, and closes the equipment on the surveying vessel (30), dismounting surveying vessel (30); Close base station (29), remote control equipment (44) and main controlling equipment (37); Entrucking, surveying work finishes, and leaves measured waters (35).
CN201210001547.4A 2012-01-05 2012-01-05 Underwater topography measurement boat as well as manufacturing method and measurement method Expired - Fee Related CN102589531B (en)

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