CN106627997B - Method, support base and the unmanned boat of measuring device are installed - Google Patents
Method, support base and the unmanned boat of measuring device are installed Download PDFInfo
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- CN106627997B CN106627997B CN201710001642.7A CN201710001642A CN106627997B CN 106627997 B CN106627997 B CN 106627997B CN 201710001642 A CN201710001642 A CN 201710001642A CN 106627997 B CN106627997 B CN 106627997B
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- support base
- measuring device
- extension
- hull
- unmanned boat
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
- B63B2017/0054—Rests or supports for movable ship-borne equipment
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses method, support base and the unmanned boats of installation measuring device.Wherein, the extension and the mounting portion suitable for installing measuring device that support base includes the hull bottom for being fixed on unmanned boat.Extension its extended downwardly from hull bottom.Mounting portion and extension lower end couple.
Description
Technical field
The present invention relates to unmanned boat technical fields, more particularly to method, support base and the unmanned boat of installation measuring device.
Background technique
The measuring devices such as sonar are widely used in water area survey.For example, measuring device is used for lake or seashore and other places
Shape measures.
Currently, measuring device is by being mounted on the ship side side position of surveying vessel.For example, application No. is 201020261027.3
Patent document disclose a kind of Portable multi-beam side installation platform.The mounting platform includes the pedestal in installation on the quarter
And elevator.Halyard is provided on elevator.The lower end of elevator lock is equipped with the connector of connection multi-beam echo sounding instrument.
However, ship side side position spray bubble is more, and rocking tendency is larger.Therefore, board installs measuring device
Mode have larger impact to the accuracy of measuring device.
For this purpose, the invention proposes a kind of technical solutions of new installation measuring device.
Summary of the invention
The present invention provides a kind of new technical solution of installation measuring device, effective solution among the above at least one ask
Topic.
According to an aspect of the present invention, a kind of support base for installing measuring device is provided, including being fixed on unmanned boat
The extension of hull bottom and the mounting portion suitable for installing measuring device.Extension its extended downwardly and sweepback from hull bottom.
Mounting portion and extension lower end couple.
Optionally, in support base according to the present invention, extension leans forward relative to hull bottom position locating for it, sweepback
Or extend straight down.Buffer layer is additionally provided between extension and mounting portion.Buffer layer is, for example, rubber material.
Optionally, support base according to the present invention further includes the storekeeper of wearing for being arranged in hull bottom through-hole, in outer profile
At least one section is adjacent to the through-hole wall and watertight, internal to be suitable for arranging the cable.Wearing storekeeper is silica gel hose and upper end height
In the predetermined water line of hull.
Optionally, in support base according to the present invention, mounting portion be suitable for installation measuring device include in following at least
It is a kind of: multi-beam echo sounding instrument, Sound speed profile instrument and inertial navigator.Mounting portion is streamlined, and wraps up measuring device at least
A part.The horizontal distance of extension and predetermined drinking water line front end is 1/3 of total length between the front and back end of the predetermined water line.
Optionally, in support base according to the present invention, extension and mounting portion are integrally formed.
Optionally, in support base according to the present invention, extension is further provided with telescoping mechanism.The telescoping mechanism
Extension end is connect with mounting portion.Extension has flat profile.The section of extension be circle, diamond shape, streamlined, rectangle and
It is any in triangle.
Another aspect according to the present invention, provides a kind of unmanned boat, including support base according to the present invention, be installed on it is described
The measuring device of support base and the data processing equipment for being arranged on hull and being coupled with measuring device.
Optionally, in unmanned boat according to the present invention, measuring device includes multi-beam echo sounding instrument, Sound speed profile instrument and is used to
Property navigator.Data processing equipment includes the first and second processing units.First processing units and multi-beam echo sounding instrument and sound
Fast section plotter couples.The second processing unit and inertial navigator couple.
Optionally, unmanned boat according to the present invention further includes the first satellite positioning antennas and the setting being arranged on front side of hull
The second satellite positioning antennas on rear side of hull.First satellite positioning antennas and the second satellite positioning antennas with second processing list
Member coupling.The spacing of first satellite antenna and the second satellite antenna is not less than 2m.
Optionally, unmanned boat according to the present invention further includes the data storage device with data processing equipment coupling.
Another aspect according to the present invention, provides a kind of method for installing measuring device, and this method includes the following steps.?
Installation site is determined on unmanned boat bottom middle line.Support base is fixed on the installation site.Measuring device is installed to the support
Seat.Wherein, support base is according to the present invention any.
To sum up, the technical solution of installation measuring device according to the present invention, by way of measuring device alow is installed,
The measurement accuracy and measurement stability of measuring device can be improved.In particular, technical solution of the present invention is by by measuring device
Installation can alow greatly reduce influence of the bubble to measuring device at 1/3 position of front end.Further, according to the present invention
Measuring device by setting wear storekeeper (upper end be higher than predetermined water line, and lower end does not do watertight processing), can be convenient more
Measuring device and corresponding cable are changed, and cabin will not intake.Further, technical solution of the present invention can be in support base
Upper setting telescoping mechanism, so as to be conveniently adjusted the working depth of measuring device.Further, extension according to the present invention
Buffer layer can also be set between mounting portion.Support base of the invention can reduce hull shaking by buffer layer and set to measurement
Standby influence, to improve the measurement accuracy of measuring device.
Detailed description of the invention
To the accomplishment of the foregoing and related purposes, certain illustrative sides are described herein in conjunction with following description and drawings
Face, these aspects indicate the various modes that can practice principles disclosed herein, and all aspects and its equivalent aspect
It is intended to fall in the range of theme claimed.Read following detailed description in conjunction with the accompanying drawings, the disclosure it is above-mentioned
And other purposes, feature and advantage will be apparent.Throughout the disclosure, identical appended drawing reference generally refers to identical
Component or element.
Fig. 1 shows the schematic diagram of unmanned boat 100 according to some embodiments of the invention；
Fig. 2 shows the bottom views of unmanned boat 100 in Fig. 1；
Fig. 3 shows schematic diagram when unmanned boat 100 in Fig. 1 is equipped with measuring device；
Fig. 4 shows the enlarged diagram in Fig. 3 at B；
Fig. 5 shows the schematic cross-section of extension according to some embodiments of the invention；
Fig. 6 shows the schematic diagram of support base according to an embodiment of the invention；
Fig. 7 shows the schematic diagram of support base according to an embodiment of the invention；
Fig. 8 shows the schematic diagram of the support base of another embodiment according to the present invention；And
Fig. 9 shows the flow chart of the method 900 of installation measuring device according to an embodiment of the invention.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
Fig. 1 shows the schematic diagram of unmanned boat 100 according to some embodiments of the invention.Fig. 2 shows unmanned boats in Fig. 1
100 bottom view.
As shown in Figures 1 and 2, unmanned boat 100 is provided with the support base for installing measuring device.Support base includes extending
Portion 110 and mounting portion 120.Extension 110 is mounted on the bottom of hull, extends downwardly from hull bottom.Here, extension 110
It can be set to sweepback (as shown in Figure 1).In addition, extension 110 may be also configured to it is as shown in Figure 7 lean forward mode and
Extension mode straight down as shown in Figure 8.Mounting portion 120 is mounted on the lower end of extension 110.In one embodiment, prolong
Extending portion 110 and mounting portion 120 are integrally formed.In yet another embodiment, extension 110 and mounting portion 120 are assembled by components
It forms, the present invention does not do excessive limitation to this.
Depending on desired configuration, measuring device of the invention for example may include multi-beam echo sounding instrument, Sound speed profile instrument
With one or more in inertial navigator.Certainly, measuring device also may include other well known detection devices, and the present invention is to this
With no restrictions.In order to reduce resistance and bubble, extension 110 usually has flat profile, but not limited to this.As shown in figure 5, prolonging
The section of extending portion 110 can be set to any in circle, diamond shape, streamlined, rectangle and triangle.Mounting portion 120 is in
At least part that is streamlined and wrapping up measuring device.
To sum up, the measuring device such as multi-beam echo sounding instrument can be mounted on boat bottom by support base according to the present invention.
It illustrates, the usual rocking tendency in boat bottom position is less than ship side position, and bubble is again smaller than ship lateral location.This
Sample, support base of the invention can make the equipment such as multi-beam echo sounding instrument have better measurement accuracy and stability.
Optionally, support base of the invention can be arranged close to the hull bottom at predetermined drinking water 1/3 position of line front end.Tool
Body, water line when predetermined water line is, for example, 100 normal load of unmanned boat, but not limited to this.Extension 110 on support base
Horizontal distance with predetermined drinking water line front end is the 1/3 of predetermined water line front and back end total length.Here, support base is eaten close to predetermined
The usual bubble in the position of waterline front end 1/3 is considerably less, and the measurement accuracy of measuring device can be greatly improved.
Fig. 3 shows schematic diagram when unmanned boat 100 in Fig. 1 is equipped with measuring device.Fig. 4 shows putting at B in Fig. 3
Big schematic diagram.
As shown in Figures 3 and 4, support base can also include wearing storekeeper 130.Wear the through-hole that storekeeper 120 is arranged in hull bottom
In.It wears in the outer profile (i.e. the outer surface of pipe) of storekeeper 120 and is adjacent to through-hole wall and watertight at least one section.In this way, wearing storekeeper 120
Inside can arrange cable.Here, wearing storekeeper 120 is, for example, silica gel hose, but not limited to this.Correspondingly, extension 110
The aperture 111 worn for cable can be set in inside.On this basis, the data processing equipment arranged on unmanned boat 100 is (in figure
It is not shown) it can be coupled by the measuring device on cable and support base.It should be noted that the upper end for wearing storekeeper 130 is higher than
Predetermined water line, and lower end does not need watertight.In this way, support base according to the present invention be replaced with can be convenient measuring device and
Corresponding cable.It can be to avoid bilging in addition, wearing setting of the storekeeper upper end higher than predetermined water line.
Depending on the concrete configuration of measuring device, data processing equipment can be by corresponding configuration.Such as measuring device in Fig. 3
Including multi-beam echo sounding instrument 140, Sound speed profile instrument 150 and inertial navigator 160.Wherein, multibeam sonar 140 includes multi-beam
Emit battle array 141 and receives battle array 142.Correspondingly, data processing equipment may include first processing units and the second processing unit.The
One processing unit is coupled with multi-beam echo sounding instrument 140 and Sound speed profile instrument 150.The second processing unit and inertial navigator
160 couplings.In this way, data processing unit can carry out processing operation to measuring device data collected.Here, processing operation
Such as can be and carry out logic judgment, data format conversion, data storage and transmit data etc. to base station, the present invention does not do this
Limitation.First and second processing units can be embedding assembly equipment independent, also can integrate together, the present invention
Excessive limitation is not done to this.
Optionally, unmanned boat 100 can also configure the data storage device (not shown) connecting with data processing equipment.Nothing
People's ship 100 can be configured with satellite positioning antennas 171 and 172.Here, satellite positioning antennas 171 and 172 may be coupled to
Two processing units.The spacing of the two antennas is usually not less than 2m, to improve positioning accuracy.
Optionally, extension 110 according to the present invention can also configure telescoping mechanism (not shown).Mounting portion 120 is installed
On the extension end of telescoping mechanism.Here, telescoping mechanism can be a variety of well known structures, and the present invention is without limitation.This
Sample, support base of the invention can adjust the working depth of measuring device by telescoping mechanism.
Fig. 6 shows the schematic diagram of support base according to an embodiment of the invention.As shown in fig. 6, propping up according to the present invention
Buffer layer 180 can also be arranged in support seat between extension 110 and mounting portion 120.Here, buffer layer is, for example, rubber material,
But not limited to this.Support base of the invention can reduce influence of the hull shaking to measuring device by buffer layer, to improve
The measurement accuracy of measuring device.
Fig. 9 shows the flow chart of the method 900 of installation measuring device according to an embodiment of the invention.Such as Fig. 9 institute
Show, method 900 starts from step S910, and installation site is determined on unmanned boat bottom middle line.In step S920, support base is consolidated
Due to the installation site.Then, method 900 executes step S930, and measuring device is installed to the support base.Optionally, it supports
Seat may include the extension extended from installation site and the mounting portion suitable for installing measuring device.Extension and hull it is predetermined
The horizontal distance for absorbing water line front end is 1/3 of total length between the front and back end of the predetermined water line.Method 900 is more specifically implemented
Details refers to the explanation for unmanned boat 100, and which is not described herein again.
A9, the support base as described in any one of A1-A8, wherein the predetermined drinking water line front end of the extension and hull
Horizontal distance be the predetermined water line front and back end between total length 1/3.A10, the support as described in any one of A1-A9
Seat, wherein the extension and the mounting portion are integrally formed.A11, the support base as described in any one of A1-A9, wherein
The extension is further provided with telescoping mechanism, and the extension end of the telescoping mechanism is connect with the mounting portion.A12, such as A1-A8
Any one of described in support base, wherein the extension have flat profile.A13, the support base as described in A12, wherein
The section of the extension is any in circle, diamond shape, streamlined, rectangle and triangle.B15, nobody as described in B14
Ship, wherein the measuring device includes multi-beam echo sounding instrument, Sound speed profile instrument and inertial navigator；The data processing equipment
Include: first processing units, coupled with multi-beam echo sounding instrument and Sound speed profile instrument, the second processing unit, with inertial navigation
Instrument coupling.B16, the unmanned boat as described in B15 further include the first satellite positioning antennas being arranged on front side of hull and are arranged in ship
The second satellite positioning antennas on rear side of body, the first satellite positioning antennas and the second satellite positioning antennas with the second processing list
Member coupling.B17, the unmanned boat as described in B16, wherein the spacing of first satellite antenna and second satellite antenna is not
Less than 2m.B18, the unmanned boat as described in any one of B14-B17 further include depositing with the data of data processing equipment coupling
Store up equipment.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, knot is not been shown in detail
Structure and technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of the various inventive aspects,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: i.e. required to protect
Shield the present invention claims than feature more features expressly recited in each claim.More precisely, as following
As claims reflect, inventive aspect is all features less than single embodiment disclosed above.Therefore, it abides by
Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, wherein each claim itself
As a separate embodiment of the present invention.
Those skilled in the art should understand that the module of the equipment in example disclosed herein or unit or groups
Part can be arranged in equipment as depicted in this embodiment, or alternatively can be positioned at and the equipment in the example
In different one or more equipment.Module in aforementioned exemplary can be combined into a module or furthermore be segmented into multiple
Submodule.
Those skilled in the art will understand that can be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more devices different from this embodiment.It can be the module or list in embodiment
Member or component are combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it can use any
Combination is to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed
All process or units of what method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint power
Benefit require, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purpose
It replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments mean it is of the invention
Within the scope of and form different embodiments.For example, in the following claims, embodiment claimed is appointed
Meaning one of can in any combination mode come using.
In addition, be described as herein can be by the processor of computer system or by executing by some in the embodiment
The combination of method or method element that other devices of the function are implemented.Therefore, have for implementing the method or method
The processor of the necessary instruction of element forms the device for implementing this method or method element.In addition, Installation practice
Element described in this is the example of following device: the device be used for implement as in order to implement the purpose of the invention element performed by
Function.
As used in this, unless specifically stated, come using ordinal number " first ", " second ", " third " etc.
Description plain objects, which are merely representative of, is related to the different instances of similar object, and is not intended to imply that the object being described in this way must
Must have the time it is upper, spatially, sequence aspect or given sequence in any other manner.
Although the embodiment according to limited quantity describes the present invention, above description, the art are benefited from
It is interior it is clear for the skilled person that in the scope of the present invention thus described, it can be envisaged that other embodiments.Additionally, it should be noted that
Language used in this specification primarily to readable and introduction purpose and select, rather than in order to explain or limit
Determine subject of the present invention and selects.Therefore, without departing from the scope and spirit of the appended claims, for this
Many modifications and changes are obvious for the those of ordinary skill of technical field.For the scope of the present invention, to this
Invent done disclosure be it is illustrative and not restrictive, it is intended that the scope of the present invention be defined by the claims appended hereto.
Claims (13)
1. a kind of support base for installing measuring device, comprising:
It is fixed on the extension of the hull bottom of unmanned boat, is extended downwardly from hull bottom；
Suitable for installing the mounting portion of measuring device, coupled with extension lower end；And
It is arranged in the storekeeper of wearing of the hull bottom through-hole, is adjacent to the through-hole wall and watertight at least one section in outer profile,
Inside is suitable for arrangement cable；
Buffer layer is additionally provided between the extension and mounting portion, the buffer layer can reduce hull and shake to measuring device
Influence；
The extension and the mounting portion are integrally formed, and the extension has flat profile, and the extension and hull
Predetermined drinking water line front end horizontal distance be the predetermined water line front and back end between total length 1/3；
The extension is further provided with telescoping mechanism, and the extension end of the telescoping mechanism is connect with the mounting portion, support base
The working depth of measuring device can be adjusted by telescoping mechanism.
2. support base as described in claim 1, wherein the extension leans forward relative to hull bottom position locating for it, after
It plunders or extends straight down.
3. support base as described in claim 1, wherein the buffer layer is rubber material.
4. support base as described in claim 1, wherein the storekeeper of wearing is that silica gel hose and upper end are higher than the pre- of the hull
Determine water line.
5. such as support base of any of claims 1-4, wherein the measuring device that the mounting portion is suitable for installation includes
It is at least one of following: multi-beam echo sounding instrument, Sound speed profile instrument and inertial navigator.
6. such as support base of any of claims 1-4, wherein the mounting portion is streamlined, and wraps up the survey
Measure at least part of equipment.
7. support base as described in claim 1, wherein the section of the extension is circle, diamond shape, streamlined, rectangle
With it is any in triangle.
8. a kind of unmanned boat, comprising:
Such as support base of any of claims 1-7；
It is installed on the measuring device of the support base；And
Data processing equipment on hull and with measuring device coupling is set.
9. unmanned boat as claimed in claim 8, wherein the measuring device include multi-beam echo sounding instrument, Sound speed profile instrument and
Inertial navigator；
The data processing equipment includes:
First processing units are coupled with multi-beam echo sounding instrument and Sound speed profile instrument,
The second processing unit is coupled with inertial navigator.
10. unmanned boat as claimed in claim 9 further includes that the first satellite positioning antennas being arranged on front side of hull exists with setting
The second satellite positioning antennas on rear side of hull, the first satellite positioning antennas and the second satellite positioning antennas with the second processing
Unit coupling.
11. unmanned boat as claimed in claim 10, wherein first satellite positioning antennas and second satellite positioning day
The spacing of line is not less than 2m.
12. the unmanned boat as described in any one of claim 8-11 further includes the data with data processing equipment coupling
Store equipment.
13. a kind of method for installing measuring device, this method comprises:
Installation site is determined on unmanned boat bottom middle line；
Support base is fixed on the installation site；And
Measuring device is installed to the support base, wherein support base is support base of any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710001642.7A CN106627997B (en) | 2017-01-03 | 2017-01-03 | Method, support base and the unmanned boat of measuring device are installed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710001642.7A CN106627997B (en) | 2017-01-03 | 2017-01-03 | Method, support base and the unmanned boat of measuring device are installed |
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| CN106627997A CN106627997A (en) | 2017-05-10 |
| CN106627997B true CN106627997B (en) | 2019-08-02 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102589531A (en) * | 2012-01-05 | 2012-07-18 | 天津市水利科学研究院 | Underwater topography measurement boat as well as manufacturing method and measurement method |
| CN202728535U (en) * | 2012-07-18 | 2013-02-13 | 冯群亮 | Unmanned telemetering ship |
| CN106218813A (en) * | 2016-08-31 | 2016-12-14 | 国家***第海洋研究所 | Sonar is measured equipment and is laid recovering mechanism under water |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8141839B2 (en) * | 2009-04-01 | 2012-03-27 | Buchner Michael R | Pole mounting device |
| CN101811562A (en) * | 2010-05-06 | 2010-08-25 | 上海大学 | Underwater side-scan sonar collecting and releasing device arranged under boat bow deck |
| CN102841216B (en) * | 2012-09-26 | 2014-07-02 | 中国船舶重工集团公司第七一〇研究所 | Portable speed measuring device for ship |
| CN104908910B (en) * | 2015-05-25 | 2017-05-24 | 哈尔滨工程大学 | Automatic underwater detection equipment extending-retracting device |
-
2017
- 2017-01-03 CN CN201710001642.7A patent/CN106627997B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102589531A (en) * | 2012-01-05 | 2012-07-18 | 天津市水利科学研究院 | Underwater topography measurement boat as well as manufacturing method and measurement method |
| CN202728535U (en) * | 2012-07-18 | 2013-02-13 | 冯群亮 | Unmanned telemetering ship |
| CN106218813A (en) * | 2016-08-31 | 2016-12-14 | 国家***第海洋研究所 | Sonar is measured equipment and is laid recovering mechanism under water |
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| CN106627997A (en) | 2017-05-10 |
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