CN204388791U - A kind of underwater towing working width automatic monitoring system - Google Patents
A kind of underwater towing working width automatic monitoring system Download PDFInfo
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- CN204388791U CN204388791U CN201520009246.5U CN201520009246U CN204388791U CN 204388791 U CN204388791 U CN 204388791U CN 201520009246 U CN201520009246 U CN 201520009246U CN 204388791 U CN204388791 U CN 204388791U
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- operation bench
- housing
- buoyancy aid
- wireless station
- measuring device
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Abstract
The utility model provides a kind of underwater towing working width automatic monitoring system and is made up of 2 parts, is operation bench and photoelectric measuring device respectively.Operation bench is arranged on Control Room, is manual control and display device, is made up of general-purpose computing system, automatically calculate for operating personnel's remote operation photoelectric measuring device and working width.Photoelectric measuring device is arranged on unscreened position on unmanned remote controlled ship mast eminence, direction of measurement, be made up of the first housing, visible light camera, thermal camera, laser range finder, rotatable platform, the captured in real-time to water surface instruction buoyancy aid, target trajectory supervision can be realized.Communication between operation bench and photoelectric measuring device is realized by wireless station.Native system can complete daytime measurement when electromagnetic interference (EMI) or dimout, has antijamming capability strong, passive detection and the high feature of data accuracy.
Description
Technical field
The utility model relates to a kind of underwater towing working width automatic monitoring system being applied to unmanned remote controlled ship, belongs to unmanned remote controlled equipment and automatic measurement system technical field.
Background technology
Article one, pull work naval vessel usually pull 2 cover underwater towings equipment carry out operation, its working width is of paramount importance index in system work process, Measurement accuracy working width is for identifying territory, fairway in real time, reduce careless omission operation area and overlay region, improve operating efficiency, have very important meaning.
Be positioned under water during the work of underwater towing equipment, increase hydrolocation device unless extra, otherwise be difficult to position it, but hydrolocation device be expensive, system complex, brings very large system work; Usual underwater towing equipment all can attach a water surface instruction buoyancy aid, under supposing stable towing operating mode, water surface instruction buoyancy aid is consistent with underwater towing device location, only there is the difference in the degree of depth, the measurement of working width is converted into the measurement of width between 2 instruction buoyancy aids.
On the naval vessel having personnel's operation, usually adopting sextant and hand-held laser rangefinder, measuring two instruction buoyancy aid angles and its oblique line distance apart from ship tail, by manually calculating the working width of underwater kit simultaneously.Owing to there is accidental error and measuring error, its measuring accuracy is low, poor real, night and meteorological condition severe time inefficiency, even cannot use.
At present, the unmanned remote controlled ship of usual use replaces towing work naval vessel towing 2 cover underwater towing equipment to carry out operation, due on the scene without staff on unmanned remote controlled ship, therefore traditional manual measurement method cannot use, above-mentioned functions need be applied automatic control and measurement technology, and be achieved in conjunction with remote control technology.
Summary of the invention
In view of this, the utility model provides a kind of underwater towing working width automatic monitoring system, is applicable to the automatic measurement system of multiple severe sea condition, for realizing the automatic measurement indicating buoyancy aid width.
In order to achieve the above object, the technical solution of the utility model is: this automatic monitoring system is used in Control Room, utilize unmanned remote controlled ship waterborne to carry out the monitoring of water surface instruction buoyancy aid, it is characterized in that, this system comprises operation bench and photoelectric measuring device, wherein operation bench is positioned at Control Room, photoelectric measuring device is positioned on the mast of unmanned remote controlled ship, is communicated between operation bench and photoelectric measuring device by wireless station; Operation bench is multi-purpose computer.
Photoelectric measuring device comprises the first housing, visible light camera, thermal camera, laser range finder, Video Controller, rotatable platform and coupling shaft; First housing is a rectangular parallelepiped ghost be sealed, a side of the first housing, axis are along its length distributed with 3 printing opacity forms, visible light camera, thermal camera and laser range finder are placed in the first enclosure interior, and laying respectively at 3 printing opacity form corresponding positions, Video Controller is placed in the first enclosure interior; Coupling shaft one end is connected on the first housing, and the other end is connected on the second housing of rotatable platform, and the axis of coupling shaft is on the extended line of 3 printing opacity form place straight lines, and with the plane orthogonal of rotatable platform.
Video Controller is connected with visible light camera, thermal camera and laser range finder respectively, the wireless station of Video Controller and unmanned remote controlled ship end keeps being electrically connected simultaneously, the vision signal that Video Controller receives visible light camera, thermal camera sends, receive the distance signal that laser range finder sends, above-mentioned signal is converted to network format; Utilize the wireless station of unmanned remote controlled ship end that the video image of network format and range information are sent to operation bench.
Rotatable platform is fixedly mounted on the mast of unmanned remote controlled ship end, and rotatable platform is made up of the second housing, shaft coupling, direct current generator, pivoting controller and angular transducer; Second housing is rectangular parallelepiped ghost, and shaft coupling, direct current generator, pivoting controller and angular transducer are all positioned at the second enclosure interior; Shaft coupling is for connecting output shaft and the coupling shaft of direct current generator; Direct current generator realizes angular adjustment under the control of pivoting controller; Pivoting controller is connected with the wireless station of unmanned remote controlled ship end, receives the rotation command from operation bench, drives direct current generator to rotate; Angular transducer is used for measuring photoelectric measuring device current angular in real time in direct current generator rotary course, and angle measurement is sent to pivoting controller, and this angle value is sent to operation bench by wireless station by pivoting controller again.
Operation bench is sent by the wireless station of Control Room end and rotates order, controls rotatable platform and is rotationally connected axle, thus drives the first housing to rotate, and realizing the adjustment to visible light camera and thermal camera range of exposures, searching for the water surface indicating the carrying out of buoyancy aid; Operation bench is by wireless station's receiver, video image of Control Room end, when searching an instruction buoyancy aid in this video image, operation bench is sent by the wireless station of Control Room end and ceases and desist order, rotatable platform stops, angular transducer exports current angle measurement α, laser range finder measures the distance b of unmanned remote controlled ship apart from current instruction buoyancy aid simultaneously, and α and b is all sent to operation bench; The wireless station that operation bench continues through Control Room end sends rotation order, and receiver, video image, when searching another one instruction buoyancy aid in this video image, operation bench is sent by the wireless station of Control Room end and ceases and desist order, rotatable platform stops, angular transducer exports current angle measurement β, and laser range finder measures the distance c of unmanned remote controlled ship apart from current instruction buoyancy aid simultaneously, and β and c is all sent to operation bench; Two groups of data α and b, β and c calculating acquisitions two of operation bench foundation two instruction buoyancy aids indicate the width a between buoyancy aid:
a
2＝b
2+c
2-2bc cos(β-α)。
Preferably, visible light camera is 1/4, and " colored CCD, its specification index is: service band is 0.4 ~ 0.9 μm, and pixel number is 752 × 576, and visual field is level 57 ° × vertical 43 °, and operating distance is target contrast 30%, and visibility is greater than 25km.
Preferably, thermal camera is refrigeration focal surface detector array, and its specification index is: spectral bandwidth is 3 ~ 5 μm, pixel number is: 320 × 256, noise equivalent temperature difference is 35mk, and visual field is level 24 ° × vertical 18 °, and cooling time is less than or equal to 8min.
Preferably, laser range finder is for measuring the distance of instruction buoyancy aid, and its specification index is: service band is 1.57 μm; Beam divergence angle is 0.5mrad; Repetition frequency is 1Hz; Distance accuracy is 5 meters; Minimum measuring distance is 100 meters.
Beneficial effect:
1, the utility model is applicable to the automatic measurement system of multiple severe sea condition, for realizing the automatic measurement indicating buoyancy aid width; Can work long hours under the environment such as night, high sea situation normal, realize searching in real time, continuously water surface mark buoy, finding range and working width Automatic solution, this system, without the need to manual intervention, makes personnel threaten away from battlefield, meets following Weapon Development trend.
2, the photoelectric measuring device be arranged on unmanned remote controlled ship in the utility model is placed in the housing of a sealing, can ensure the sealing of internal components, and adapt to working environment on ship, preventing steam from entering affects electronic device works.
3, be all carry out type selecting according to its environment and based on the consideration of precision for the type selecting of visible light camera and thermal camera in the utility model, wherein visible light camera should imaging effect be best by day, in the good situation of light, thermal camera when should in night, poor visibility use, the type selecting therefore in the utility model makes more can be adapted to environment on ship and have certain precision.
4, the utility model is by UNICOM of wireless station operation bench and photoelectric measuring device, and the instruction used is simply direct, also can reach the object that instruction controls under severe sea condition, and computing method are succinct, possess certain precision simultaneously.
Accompanying drawing explanation
Fig. 1 underwater towing working width automatic monitoring system schematic diagram;
Fig. 2 photoelectric measuring device schematic diagram;
Fig. 3 rotatable platform forms schematic diagram;
Fig. 4 width calculation schematic diagram.
Embodiment
To develop simultaneously embodiment below in conjunction with accompanying drawing, the utility model is described in detail.
The utility model provides a kind of underwater towing working width automatic monitoring system and is made up of 2 parts, is operation bench and photoelectric measuring device respectively, as shown in Figure 1.Operation bench is arranged on Control Room, is manual control and display device, is made up of general-purpose computing system, automatically calculate for operating personnel's remote operation photoelectric measuring device and working width.Photoelectric measuring device is arranged on unscreened position on unmanned remote controlled ship mast eminence, direction of measurement, be made up of the first housing, visible light camera, thermal camera, laser range finder, rotatable platform, the captured in real-time to water surface instruction buoyancy aid, target trajectory supervision can be realized.Communication between operation bench and photoelectric measuring device is realized by wireless station.Native system can complete daytime measurement when electromagnetic interference (EMI) or dimout, has antijamming capability strong, passive detection and the high feature of data accuracy.
Operation bench
Operation bench is general-purpose computing system, provides display, controls the navigation of unmanned remote controlled ship for operating personnel in Control Room, and it is measured to observe the image information of photoelectric measuring device and manipulation.
Operating personnel first operational light electrical measurement search for the ship rear water surface, after visible light camera or thermal camera find instruction buoyancy aid, after operating personnel click instruction buoyancy aid image with mouse, photoelectric measuring device stops operating, image stabilization ground monitors the position of instruction buoyancy aid, restarts the distance of laser range finder to instruction buoyancy aid and measures; Operational light electrical measurement is searched for another instruction buoyancy aid, is locked and range observation again; Finally working width is calculated automatically according to width calculation method by operation bench.
Photoelectric measuring device
Photoelectric measuring device form as shown in Figure 2, wherein 1 be housing, and 2 is visible light camera, and 3 is thermal camera, and 4 is laser range finder, 5 be Video Controller, 6 be rotatable platform, 7 is coupling shaft.Coupling shaft controls by rotatable platform, and housing can be driven to rotate, the observation angle of adjustment visible light camera and thermal camera.
1) housing
Housing is for installing visible light camera, thermal camera and laser range finder, and adopt design of Sealing Structure, preventing steam from entering affects electronic device works.Housing is opened respectively 3 printing opacity forms, visible light camera, thermal camera and laser range finder can normally be received and emission of light.Three printing opacity window dimension meet the corresponding Lens of each sensor, are arranged on the axis of housing, and arrangenent diagram as shown in Figure 2, is followed successively by visible light camera form, laser range finder form and infrared sensor form from top to bottom.
2) visible light camera
Imaging effect is best by day, in the good situation of light for visible light camera, optional another day this sony company high-definition camera product, and specification index is usually as follows:
1) service band: 0.4 ~ 0.9 μm;
2) type: 1/4 " colored CCD;
3) pixel number: 752 × 576;
4) visual field: 57 ° × 43 ° (level × vertical);
5) operating distance: target contrast 30%, visibility is greater than 25km.
3) thermal camera
Thermal camera uses when night, poor visibility, and its specification index is usually as follows:
1) type: refrigeration focal surface detector array
2) spectral bandwidth: 3 ~ 5 μm;
3) pixel number: 320 × 256 (640 × 480);
4) noise equivalent temperature difference (NETD): 35mk;
5) visual field: 24 ° × 18 ° (level × vertical);
6) cooling time :≤8min.
4) laser range finder
Laser range finder is for measuring the distance of instruction buoyancy aid, and its specification index is usually as follows:
1) service band: 1.57 μm;
2) beam divergence angle: 0.5mrad;
3) repetition frequency: 1Hz;
4) distance accuracy: 5 meters;
5) minimum measuring distance: 100 meters.
5) Video Controller
Video controls the vision signal receiving visible light camera, thermal camera sends, and receives the distance signal that laser range finder sends, above-mentioned signal is converted to network signal; The wireless station of the unmanned remote controlled ship end shown in Video Controller and Fig. 1 keeps electrical connection, video image and range information is sent to operation bench by wireless station, observes for operating personnel.
6) rotatable platform
6 is rotatable platform, be fixedly mounted on mast, be connected by coupling shaft 7 with housing 1, after rotatable platform receives the rotation order of operation bench transmission, be rotationally connected axle 7, thus drive housing 1 to rotate, realizing the adjustment of visible light camera and thermal camera range of exposures, searching for the water surface indicating the carrying out of buoyancy aid.
Rotatable platform is formed as shown in Figure 3, and wherein 8 is shaft coupling, and 9 is direct current generator, and 10 is pivoting controller, and 11 is angular transducer, and 12 is rotatable platform housing.Shaft coupling 8 is for connecting output shaft and the coupling shaft 6 of direct current generator 9; Direct current generator realizes camera angle and regulates under the control of pivoting controller 9; Pivoting controller is connected with Ting Duan wireless station unmanned remote controlled in Fig. 1, receives the rotate instruction from operation bench, drives direct current generator to rotate; In motor rotary course, photoelectric measuring device current angular measured in real time by angular transducer, and angle measurement is sent to pivoting controller, and this angle value is sent to operation bench by wireless station by pivoting controller again, observes for operating personnel.
Width calculation method
Unmanned remote controlled ship, instruction buoyancy aid relative position are as shown in Figure 4, wherein A represents unmanned remote controlled ship, B, C all represent instruction buoyancy aid, because unmanned remote controlled ship needs towing two to overlap underwater towing equipment, often overlap underwater towing equipment and have an instruction buoyancy aid, the width between a representative instruction buoyancy aid is numerical value to be solved of the present utility model, b representative instruction buoyancy aid B is to the measuring distance of photoelectric measuring device, and c representative instruction buoyancy aid C is to the measuring distance of photoelectric measuring device.∠ A (i.e. ∠ CAB) is the angle of instruction buoyancy aid B and unmanned remote controlled ship A relative with instruction buoyancy aid C.
The measuring method of each physical quantity above: first control video camera rotary search by operation bench and indicate buoyancy aid B, after finding instruction buoyancy aid B, the angle of inching video camera, make the imaging effect of instruction buoyancy aid B best, rotatable platform stops, record the angle value α that now angular transducer exports, start the distance b that laser range finder measures instruction buoyancy aid B simultaneously; Again control video camera rotary search instruction buoyancy aid C, after finding instruction buoyancy aid C, the angle of inching video camera, make the imaging effect of instruction buoyancy aid C best, rotatable platform stops, record the angle value β that now angular transducer exports, start the distance c that laser range finder measures instruction buoyancy aid C, now ∠ A is the absolute value of (β-α) simultaneously.
After operation bench obtains above-mentioned physical quantity, working width value a can be obtained by the cosine law, i.e. formula (1).
a
2＝b
2+c
2-2bccosA (1)
Above-mentioned computation process is calculated, without the need to manual intervention automatically by operation bench software.
System works step
The use step of underwater towing working width automatic monitoring system is as follows:
1. unmanned remote controlled ship status checking is complete, and departure is tested;
2. at every state index of the unmanned remote controlled ship of the observation of Control Room;
3. unmanned remote controlled ship of commanding behind the scenes arrives deployment place;
4. remote control lays underwater towing equipment and instruction buoyancy aid thereof;
5. start unmanned remote controlled ship towing navigation and start operation to operating location;
6., after Condition Of Tow is stablized, start photoelectric measuring device search instruction buoyancy aid B, after finding to indicate buoyancy aid B, start laser range finder measuring distance b, and record is as front hook α;
7. control photoelectric measuring device to rotate, search instruction buoyancy aid C, after finding instruction buoyancy aid C, start laser range finder measuring distance c, and record is as front hook β;
8. operator's console application of formula (1), calculates current work width a;
9. the navigation of unmanned remote controlled ship is to next setting, continues operation, working width calculate repeat step 6.-8., until operation process terminates.
To sum up, these are only preferred embodiment of the present utility model, be not intended to limit protection domain of the present utility model.All within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (4)
1. a underwater towing working width automatic monitoring system, for the monitoring utilizing unmanned remote controlled ship waterborne to carry out water surface instruction buoyancy aid in Control Room, it is characterized in that, this system comprises operation bench and photoelectric measuring device, wherein operation bench is positioned at Control Room, photoelectric measuring device is positioned on the mast of unmanned remote controlled ship, is communicated between operation bench and photoelectric measuring device by wireless station; Described operation bench is multi-purpose computer;
Described photoelectric measuring device comprises the first housing (1), visible light camera (2), thermal camera (3), laser range finder (4), Video Controller (5), rotatable platform (6) and coupling shaft (7); Described first housing (1) is a rectangular parallelepiped ghost be sealed, a side of the first housing (1), axis are along its length distributed with 3 printing opacity forms, described visible light camera (2), thermal camera (3) and laser range finder (4) are placed in the first housing (1) inner, and laying respectively at described 3 printing opacity form corresponding positions, it is inner that Video Controller (5) is placed in the first housing (1); Described coupling shaft (7) one end is connected on the first housing (1), the other end is connected on second housing (12) of rotatable platform (6), the axis of coupling shaft (7) is on the extended line of 3 printing opacity form place straight lines, and with the plane orthogonal of rotatable platform;
Described Video Controller (5) is connected with visible light camera (2), thermal camera (3) and laser range finder (4) respectively, Video Controller (5) keeps being electrically connected with the wireless station of unmanned remote controlled ship end simultaneously, the vision signal that Video Controller receives visible light camera (2), thermal camera (3) sends, receive the distance signal that laser range finder (4) sends, above-mentioned signal is converted to network format; Utilize the wireless station of unmanned remote controlled ship end that the video image of network format and range information are sent to operation bench;
Described rotatable platform (6) is fixedly mounted on the mast of unmanned remote controlled ship end, and described rotatable platform (6) is made up of the second housing (12), shaft coupling (8), direct current generator (9), pivoting controller (10) and angular transducer (11); Described second housing is rectangular parallelepiped ghost (12), and it is inner that shaft coupling (8), direct current generator (9), pivoting controller (10) and angular transducer (11) are all positioned at the second housing (12); Described shaft coupling (8) is for connecting output shaft and the described coupling shaft (7) of direct current generator (9); Described direct current generator (9) realizes angular adjustment under the control of pivoting controller; Described pivoting controller (10) is connected with the wireless station of unmanned remote controlled ship end, receives the rotation command from operation bench, drives direct current generator (9) to rotate; Described angular transducer (11) for measuring photoelectric measuring device current angular in real time in direct current generator (9) rotary course, and angle measurement being sent to pivoting controller (10), this angle value is sent to operation bench by wireless station by pivoting controller (10) again;
Described operation bench is sent by the wireless station of Control Room end and rotates order, control rotatable platform and be rotationally connected axle, thus drive the first housing (1) to rotate, realizing the adjustment to visible light camera (2) and thermal camera (3) range of exposures, searching for the water surface indicating the carrying out of buoyancy aid; Operation bench is by wireless station's receiver, video image of Control Room end, when searching an instruction buoyancy aid in this video image, operation bench is sent by the wireless station of Control Room end and ceases and desist order, rotatable platform stops, angular transducer exports current angle measurement α, laser range finder measures the distance b of unmanned remote controlled ship apart from current instruction buoyancy aid simultaneously, and α and b is all sent to operation bench; The wireless station that operation bench continues through Control Room end sends rotation order, and receiver, video image, when searching another one instruction buoyancy aid in this video image, operation bench is sent by the wireless station of Control Room end and ceases and desist order, rotatable platform stops, angular transducer exports current angle measurement β, and laser range finder measures the distance c of unmanned remote controlled ship apart from current instruction buoyancy aid simultaneously, and β and c is all sent to operation bench; Two groups of data α and b, β and c calculating acquisitions two of operation bench foundation two instruction buoyancy aids indicate the width a:a between buoyancy aid
2=b
2+ c
2-2bc cos (β-α).
2. a kind of underwater towing working width automatic monitoring system as claimed in claim 1, it is characterized in that, described visible light camera (2) is 1/4 " colored CCD; its specification index is: service band is 0.4 ~ 0.9 μm; pixel number is 752 × 576; visual field is level 57 ° × vertical 43 °, and operating distance is target contrast 30%, and visibility is greater than 25km.
3. a kind of underwater towing working width automatic monitoring system as claimed in claim 1, it is characterized in that, described thermal camera (3) is refrigeration focal surface detector array, its specification index is: spectral bandwidth is 3 ~ 5 μm, pixel number is: 320 × 256, noise equivalent temperature difference is 35mk, and visual field is level 24 ° × vertical 18 °, and cooling time is less than or equal to 8min.
4. a kind of underwater towing working width automatic monitoring system as claimed in claim 1, is characterized in that, described laser range finder (4) is for measuring the distance of instruction buoyancy aid, and its specification index is: service band is 1.57 μm; Beam divergence angle is 0.5mrad; Repetition frequency is 1Hz; Distance accuracy is 5 meters; Minimum measuring distance is 100 meters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520009246.5U CN204388791U (en) | 2015-01-07 | 2015-01-07 | A kind of underwater towing working width automatic monitoring system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520009246.5U CN204388791U (en) | 2015-01-07 | 2015-01-07 | A kind of underwater towing working width automatic monitoring system |
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| Publication Number | Publication Date |
|---|---|
| CN204388791U true CN204388791U (en) | 2015-06-10 |
Family
ID=53361504
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520009246.5U Withdrawn - After Issue CN204388791U (en) | 2015-01-07 | 2015-01-07 | A kind of underwater towing working width automatic monitoring system |
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|---|---|
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104567692A (en) * | 2015-01-07 | 2015-04-29 | 中国船舶重工集团公司第七一〇研究所 | Automatic monitoring system for underwater dragging operation width |
| CN117091515A (en) * | 2023-10-19 | 2023-11-21 | 阳泉市水文水资源勘测站 | Hydrology surface of water width caliber |
-
2015
- 2015-01-07 CN CN201520009246.5U patent/CN204388791U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104567692A (en) * | 2015-01-07 | 2015-04-29 | 中国船舶重工集团公司第七一〇研究所 | Automatic monitoring system for underwater dragging operation width |
| CN104567692B (en) * | 2015-01-07 | 2017-05-03 | 中国船舶重工集团公司第七一〇研究所 | Automatic monitoring system for underwater dragging operation width |
| CN117091515A (en) * | 2023-10-19 | 2023-11-21 | 阳泉市水文水资源勘测站 | Hydrology surface of water width caliber |
| CN117091515B (en) * | 2023-10-19 | 2023-12-15 | 阳泉市水文水资源勘测站 | Hydrology surface of water width caliber |
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|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150610 Effective date of abandoning: 20170503 |