CN209991952U - Detection apparatus for sand piles form under water - Google Patents
Detection apparatus for sand piles form under water Download PDFInfo
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- CN209991952U CN209991952U CN201921184147.5U CN201921184147U CN209991952U CN 209991952 U CN209991952 U CN 209991952U CN 201921184147 U CN201921184147 U CN 201921184147U CN 209991952 U CN209991952 U CN 209991952U
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Abstract
The utility model provides a detection device of the form of an underwater sand pile, which consists of a detection device, a processing device and a display device, wherein the detection device acquires the distances from a plurality of distance measuring points of the underwater sand pile to the detection device respectively and transmits the distances from the plurality of distance measuring points to the processing device; and the processing equipment calculates the positions of the plurality of ranging points according to the received distance and the position relation between the detection equipment and the ranging points so as to obtain the gradient line of the underwater sand pile. The utility model discloses can acquire the slope line of sand heap under water in real time to and the relative position of reamer head and current slope line, and then guide the hank to inhale the ship and carry out the construction parameter adjustment, promote the efficiency of construction and construction safety.
Description
Technical Field
The utility model belongs to the ocean engineering field especially relates to a detection device of sand pile form under water.
Background
Land is one of the most basic elements for human survival, along with the development of industrialization and urbanization, land resources are gradually reduced, and particularly, the land resources are more precious in coastal cities with relatively developed economy and relatively concentrated population. The land reclamation from the sea is an important way for expanding the land space and relieving the human mole shield in coastal areas, and provides good social and economic benefits for coastal areas with short land.
At present, the land reclamation is usually realized by adopting a hydraulic filling engineering construction method, and the basic principle is as follows: and conveying the mud-water mixture dug out from the seabed to an area needing to be hydraulically filled through a pipeline, allowing the mud-water mixture to slowly flow in the hydraulically filled area, depositing silt in the area to form a land area, and discharging the rest seawater and part of silt which is not deposited from a drainage port of the hydraulically filled area.
In the prior art, the construction method of hydraulic reclamation engineering mainly comprises the following steps: direct hydraulic fill of a drag suction ship, direct hydraulic fill of a cutter suction ship, and hydraulic fill of a sand storage pit, the cutter suction ship and the hydraulic fill. The sand storage pit-cutter suction dredger-hydraulic reclamation is the most common construction method of hydraulic reclamation engineering, and in the process of sand taking construction of the cutter suction dredger from the sand storage pit, the sand pile may be displaced or even collapsed due to the influence of factors such as water flow disturbance and the self gravity action of the sand pile, so that the construction safety and the construction efficiency are seriously influenced. In order to obtain the form of the sand pile, the form of the sand pile is usually obtained by using traditional measuring equipment, such as a multi-beam depth finder, a side scan sonar and the like, but because the environment of the ocean water body is complex, the traditional measuring equipment cannot timely reflect the dynamic change of the form of the underwater sand pile.
Therefore, when the cutter suction dredger carries out sand taking construction from a sand storage pit, how to visually detect the underwater sand pile form in real time and guarantee the construction safety becomes a technical problem which needs to be solved by technical personnel in the field.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that the dynamic change of sand pile form under water of reaction that can't be timely among the prior art provides a detection device of sand pile form under water.
In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: the detection device for the underwater sand pile form comprises detection equipment, processing equipment and display equipment, wherein the detection equipment and the display equipment are connected with the processing equipment;
the detection equipment is used for acquiring the distances from N ranging points of the underwater sand pile to the detection equipment respectively and transmitting the distances from the N ranging points to the processing equipment;
the processing equipment is used for receiving the distances from the N ranging points to the detection equipment, and calculating the positions of the N ranging points according to the distances and the position relationship between the detection equipment and the ranging points to obtain a gradient line of the underwater sand pile;
the display equipment is used for displaying a gradient line of the underwater sand pile;
wherein N is more than or equal to 3.
Optionally, the system is used for a cutter suction ship, and the detection device comprises a connecting rod and a sonar transducer array fixedly connected to the connecting rod;
the connecting rod is fixedly arranged on the cutter suction boat, the sonar transducer array comprises N sonar transducers, and the sonar transducers correspond to the ranging points one by one;
the N sonar transducers and the connecting rod are positioned on the same vertical plane, and the N sonar transducers are positioned between the connecting rod and the underwater sand pile;
the detection equipment is used for obtaining N range points of the underwater sand pile and respectively reaches the distance of the detection equipment, wherein the N range points of the underwater sand pile are used for obtaining the distance from the N range points of the underwater sand pile to the corresponding sonar transducer.
Optionally, the N sonar transducers are located the same side of connecting rod still includes, the N sonar transducers all are different with the contained angle of connecting rod.
Optionally, the processing device includes a host and a multi-channel control unit connected to the host, and the multi-channel control unit is connected to the sonar transducer array;
the N sonar transducers of the sonar transducer array are correspondingly connected with the channels of the multi-channel control unit one by one;
the multichannel control unit is used for controlling the N sonar transducers to acquire the distances of N ranging points of the underwater sand pile corresponding to the sonar transducers respectively;
the multichannel control unit is still with the sand pile N range finding point under water respectively to the distance transmission of corresponding sonar transducer for the host computer.
Optionally, the sonar transducer array comprises four of the sonar transducers;
wherein, along the sequence from bottom to top, the included angles between the four sonar transducers and the connecting rod are respectively 0 degree, 40 degrees, 60 degrees and 80 degrees;
and the four sonar transducers are arranged at equal intervals at fixed positions on the connecting rod.
Optionally, the position for obtaining the N distance measuring points according to the distance and the positional relationship between the detection device and the distance measuring points includes using one of the ends of the connecting rod as an origin, and calculating the position of the N distance measuring points relative to the origin according to the number N of the sonar transducer arrays, the distance between each fixed point of the sonar transducer on the connecting rod and the origin, and the included angle between the sonar transducer and the connecting rod, so as to obtain the gradient line of the underwater sand pile.
Optionally, the processing device is further configured to calculate a position relationship between the reamer head and a gradient line of the underwater sand pile according to the positions of the reamer head of the cutter suction ship and the origin.
Optionally, one end of the connecting rod is fixedly mounted on a starboard of the cutter suction dredger along a first direction, and the connecting rod is arranged close to a cutter head of the cutter suction dredger;
the N sonar transducers and the vertical plane where the connecting rod is located are parallel to the first direction;
the processing equipment and the display equipment are positioned in a cab of the cutter suction dredger;
the detection device is in remote communication connection with the processing device, and the first direction is the advancing direction of the cutter suction dredger.
The utility model has the advantages that: the detection device for detecting the underwater sand pile form provided by the utility model has simple structure and is easy to deploy and implement; the detection device is characterized in that the detection equipment can acquire the distances of a plurality of different distance measuring points of the underwater sand pile in real time, the processing equipment can calculate the positions of the distance measuring points to acquire the gradient lines of the underwater sand pile according to the distances and the position relation between the detection equipment and the distance measuring points, and the display equipment can visually display the gradient lines of the underwater sand pile and the relative positions of the reamer head and the current gradient line, so that the cutter suction ship is guided to carry out construction parameter adjustment, and the construction efficiency and the construction safety are improved.
Drawings
Fig. 1 is a block diagram of a device for detecting the form of an underwater sand pile according to the present invention;
fig. 2 is a schematic structural view of a device for detecting the form of an underwater sand pile according to a first embodiment of the present invention;
fig. 3 is a schematic structural view of a cutter suction dredger provided with a detection device for detecting the shape of an underwater sand pile according to a first embodiment of the present invention;
FIG. 4 is an enlarged schematic view of the structure of the sonar transducer array of FIG. 3;
fig. 5 is a schematic diagram of a calculation model of a device for detecting the form of an underwater sand pile according to an embodiment of the present invention;
fig. 6 is a schematic diagram showing a slope line of a detection device for an underwater sand pile body according to a first embodiment of the present invention;
wherein the reference numerals of figures 1-6 are as follows:
100-detection device, 110-connecting rod, 111-first connecting rod, 112-second connecting rod, 113-third connecting rod, 114-fourth connecting rod, 115-main connecting rod;
120-sonar transducer array, 121-first sonar transducer, 122-second sonar transducer, 123-third sonar transducer, 124-fourth sonar transducer;
200-processing equipment, 210-host, 211-computer motherboard and acquisition control board, 212-first control cable interface, 213-power supply, 214-external input and output interface, 215-input equipment, 220-multichannel control unit, 221-multichannel control board, 222-second control cable interface, 223-transceiver board;
300-display device, 400-cutter suction vessel, 410-cab, 420-reamer head;
500-underwater sand pile, 510-underwater sand pile slope line;
alpha 1-a first included angle, alpha 2-a second included angle, alpha 3-a third included angle;
p1-first ranging point, P2-second ranging point, P3-third ranging point, P4-fourth ranging point, L1-a first distance, L2-a second distance, L3-a third distance, L4-a fourth distance, D2-a second ranging length.
Detailed Description
The utility model discloses a core thought provides a detection device of sand pile/sand pile form under water, can detect sand pile form under water in real time, directly perceivedly, and then guide the hank to inhale the ship and carry out construction parameter adjustment, promote the efficiency of construction and guarantee construction safety.
In order to realize the idea, the utility model provides a detection device for the shape of an underwater sand pile, which comprises a detection device, a processing device and a display device, wherein the detection device and the display device are both connected with the processing device; the detection equipment is used for acquiring the distances from N ranging points of the underwater sand pile to the detection equipment respectively and transmitting the distances from the N ranging points to the processing equipment; the processing equipment is used for receiving the distances from the N ranging points to the detection equipment, and calculating the positions of the N ranging points according to the distances and the position relationship between the detection equipment and the ranging points to obtain a gradient line of the underwater sand pile; the display equipment is used for displaying a gradient line of the underwater sand pile; wherein N is more than or equal to 3.
The detection device for the underwater sand pile form provided by the utility model is further described in detail. It should be noted that fig. 1-6 are in a very simplified form and are not to precise scale, and are provided for convenience and clarity in assisting in describing the embodiments of the present invention. It should be understood that the drawings are not necessarily to scale, showing the particular construction of the invention, and that the illustrative features in the drawings, which are used to illustrate certain principles of the invention, are also somewhat simplified. Specific design features of the invention disclosed herein, including, for example, specific dimensions, orientations, locations, and configurations, will be determined in part by the particular intended application and environment of use. In the embodiments described below, the same reference numerals are used in common between different drawings to denote the same portions or portions having the same functions, and a repetitive description thereof will be omitted. In this specification, like reference numerals and letters are used to designate like items, and therefore, once an item is defined in one drawing, further discussion thereof is not required in subsequent drawings.
< example one >
The present embodiment provides a detection apparatus for detecting an underwater sand pile form, as shown in fig. 1, which is a structural block diagram of the detection apparatus for detecting an underwater sand pile form provided in the present embodiment, and includes a detection device 100, a processing device 200, and a display device 300, where the detection device 100 and the display device 200 are both connected to the processing device 200; the detection device 100 is used for acquiring distances from N ranging points of the underwater sand pile to the detection device 100 respectively, and transmitting the distances from the N ranging points to the processing device 200; the processing device 200 is configured to receive distances from the N ranging points to the detection device 100, the processing device 200 is further configured to calculate positions of the N ranging points according to the distances and a position relationship between the detection device 100 and the ranging points to obtain a gradient line of the underwater sand pile, and the display device 300 is configured to display the gradient line of the underwater sand pile; wherein N is more than or equal to 3.
Fig. 2 is a schematic structural diagram of the detection device for detecting the underwater sand pile form provided in this embodiment, which is used for illustration of a cutter suction dredger for convenience of description, and fig. 3 is a schematic structural diagram of a cutter suction dredger equipped with the detection device for detecting the underwater sand pile form.
Continuing to refer to fig. 2, the detection apparatus 100 includes a connecting rod 110 and a sonar transducer array 120 fixedly connected to the connecting rod 110, wherein the connecting rod 110 is fixedly disposed on the cutter suction boat 400, the sonar transducer array 120 includes N sonar transducers, and the N sonar transducers include at least a first sonar transducer 121, a second sonar transducer 122, and a third sonar transducer 123. The inventor researches to find that the action distance of other detection means is short, for example, the penetration capacity of light in water is very limited, and even in the clearest seawater, people can only see objects within dozens of meters to dozens of meters; for another example, the electromagnetic wave is too fast attenuated in water, and the loss is larger as the wavelength is shorter, and even if a high-power low-frequency electromagnetic wave is used, the electromagnetic wave can only propagate for dozens of meters. However, the attenuation of the sound wave propagating in water is much smaller, and according to the information, a bomb of several kilograms explodes in the deep-sea sound channel, the signal can be received in twenty thousand kilometers away, and the low-frequency sound wave can penetrate through the stratum of several kilometers on the sea bottom and obtain the information in the stratum. Measurements and observations in water have not found a more effective means than acoustic waves to date; therefore, it can be considered that observation and measurement are performed in water, and only acoustic waves having an inherently thick condition are present. Further, sonar is one kind and utilizes the sound wave propagation characteristic under water, through electroacoustic conversion and information processing, accomplishes the electronic equipment who surveys under water and the communication task, and this is the utility model discloses a sonar transducer array surveys the reason of sand pile form under water by.
The processing device 200 comprises a host computer 210 and a multi-channel control unit 220 connected with the host computer 210, wherein the multi-channel control unit 220 is connected with the sonar transducer array 120; the N sonar transducers of the sonar transducer array 120 are connected with the channels of the multi-channel control unit 220 in a one-to-one correspondence; the multi-channel control unit 220 is used for controlling the N sonar transducers to acquire the distances of N ranging points of the underwater sand pile corresponding to the sonar transducers respectively; the multi-channel control unit 220 further transmits the distances from the N ranging points of the underwater sand pile to the corresponding sonar transducers to the host 210.
The host 210 comprises a computer motherboard and acquisition control board 211, a first control cable interface 212, a power source 213, an external input/output interface 214 and an input device 215, wherein the power source 213 is used for supplying power to the computer motherboard and acquisition control board 211 and the first control cable interface 212, and the input device 215 is connected with the computer motherboard and acquisition control board 211 through the external input/output interface 214; the input device 215 is used as an interactive medium for a user to operate the underwater sand pile detection device, and the input device 215 includes but is not limited to a keyboard and/or a mouse; the host 210 is connected to the display device 300 through the computer motherboard and the acquisition control board 211; the host 210 is connected to the multi-channel control unit through the first control cable interface 212, and the computer motherboard and acquisition control board 211 is configured to control the external input/output interface 214 and the first control cable interface 212, and is configured to receive requests and/or information transmissions from the external input/output interface 214 and the first control cable interface 212.
The multi-channel control unit 220 includes a multi-channel control board 221, a second control cable interface 222, and a transceiver board 223. Wherein, the transceiver board 223 is connected to the multi-channel control board 221 and the second control cable interface 222; the multi-channel control unit 220 is communicatively connected with the first control cable interface 212 of the host 210 through the second control cable interface 222; the multi-channel control board 221 is communicatively connected to the second control cable interface 222, and the multi-channel control board 221 is connected to the sonar transducer array 120 of the probe device 100, where the number of channels of the multi-channel control board 221 corresponds to the number of sonar transducers of the sonar transducer array 120.
Referring to fig. 3 and 4, in the present embodiment, the sonar transducer array 120 includes N sonar transducers, where N is 4, and is a first sonar transducer 121, a second sonar transducer 122, a third sonar transducer 123, and a fourth sonar transducer 124; in this embodiment, the connecting rod 110 includes a main connecting rod 115, and a first connecting rod 111, a second connecting rod 112, a third connecting rod 113, and a fourth connecting rod 114 respectively fixedly connected to the main connecting rod 115. One end of the first connecting rod 111 is fixed on the main connecting rod 115, the other end of the first connecting rod 111 is connected with the first sonar transducer 121, and the first sonar transducer 121 and the first connecting rod 111 are located on the same straight line; by analogy, the second connecting rod 112 is connected with the second sonar transducer 122, and the second sonar transducer 122 and the second connecting rod 112 are located on the same straight line; the third connecting rod 113 is connected with the third sonar transducer 123, and the third connecting rod 113 and the third sonar transducer 123 are located on the same straight line; the fourth connecting rod 114 is connected to the fourth sonar transducer 124, and the fourth connecting rod 114 and the fourth sonar transducer 124 are located on the same straight line.
Further, the 4 sonar transducers are located on the same vertical plane with the first connecting rod 111, the second connecting rod 112, the third connecting rod 113, the fourth connecting rod 114, and the main connecting rod 115, and the first sonar transducer 121, the second sonar transducer 122, the third sonar transducer 123, and the fourth sonar transducer 124 are located between the connecting rod 110 and the underwater sand pile 500.
Preferably, the sonar transducer is located the same side of connecting rod still includes, 4 the sonar transducers all are different with the contained angle of connecting rod 110. In this embodiment, a first included angle α 1 formed between the first connecting rod 111 and the main connecting rod 115 is 80 °, a second included angle α 2 formed between the second connecting rod 112 and the main connecting rod 115 is 60 °, a third included angle α 3 formed between the third connecting rod 113 and the main connecting rod 115 is 40 °, and a fourth included angle formed between the fourth connecting rod 114 and the main connecting rod 115 is 0 °, that is, the fourth sonar transducer 124 is directed vertically downward. Obviously, the included angle between the 4 transducers and the main connecting rod 115 is not a limitation of the present invention, and those skilled in the art can reasonably set the included angle according to the actual working condition, but all the included angles are within the protection scope of the present invention.
Further, in order to better obtain the gradient line of the underwater sand bank 500, the first connecting rod 111, the second connecting rod 112, the third connecting rod 113 and the fourth connecting rod 115 are fixed at different positions of the main connecting rod 115, preferably, the fixing positions of the four sonar transducers on the main connecting rod 115 are arranged equidistantly, referring to fig. 5, the distance L2 from the fixing position of the first sonar transducer 121 on the main connecting rod 115 to the fixing position of the second sonar transducer 122 on the main connecting rod 115, the distance L3 from the fixing position of the second sonar transducer 122 on the main connecting rod 115 to the fixing position of the third sonar transducer 123 on the main connecting rod 115, the distance L4 from the fixing position of the third sonar transducer 123 on the main connecting rod 115 to the fixing position of the fourth sonar transducer 124 on the main connecting rod 115 are equal, namely L2、L3And L4Are equal to each other, wherein L1The first sonar transducer 121 is a fixed position distance from the main link 115 on the cutter suction vessel.
In this embodiment, the underwater sand pile 500 includes the underwater sand pile slope line 510, and because the sonar transducer array 120 that this embodiment provided includes 4 sonar transducers, consequently, can acquire the distance that four range points on the underwater sand pile slope line 510 apart from the sonar transducers that correspond respectively, according to the distance, processing apparatus 200 calculates the position of obtaining four range points, according to the position of four range points obtains the underwater sand pile slope line 510. Obviously, the greater the number of sonar transducers that the sonar transducer array 120 has, the greater the position of the ranging point obtained, and the more accurate the morphology of the underwater slope line 510 obtained. Those skilled in the art will appreciate that the number of sonar transducers is not a limitation of the present invention. In this embodiment, the four ranging points of the underwater sand pile 500 are a first ranging point P1, a second ranging point P2, a third ranging point P3 and a fourth ranging point P4, respectively.
Further, the detection device 100 is configured to obtain distances from 4 distance measurement points of the underwater sand pile to the detection device 100, and includes 4 sonar transducers for obtaining distances from 4 distance measurement points of the underwater sand pile to the corresponding sonar transducers, see fig. 2, fig. 3, fig. 4, and fig. 5, where the first sonar transducer 121 is configured to obtain a distance from the first distance measurement point P1 to the first sonar transducer 121; by analogy, the second sonar transducer 122 is used to obtain the distance from the second ranging point P2 to the second sonar transducer 122, the third sonar transducer 123 is used to obtain the distance from the third ranging point P3 to the third sonar transducer 123, and the fourth sonar transducer 124 is used to obtain the distance from the fourth ranging point P4 to the fourth sonar transducer 124.
Still further, the processing unit is used for obtaining the positions of the N ranging points according to the distance and the positional relationship between the detection device 100 and the ranging points includes using one of the ends of the connecting rod as an original point, and calculating the positions of the N ranging points relative to the original point according to the number N of the sonar transducer arrays, the distance between each fixed point of the sonar transducer on the connecting rod and the original point, and the included angle between the sonar transducer and the connecting rod, so as to obtain the gradient line of the underwater sand pile.
Specifically, please refer to fig. 5, which illustrates an example of using 4 ranging points. Fixedly welding the main connecting rod 115 to a right side ship board of the cutter suction ship along the advancing direction of the cutter suction ship, wherein the X axis is vertical to the ship board and is right according to the ship coordinate suggestion rule; the Y axis is positive towards the bow, the Z axis is positive vertically downwards, the fixed position of the main connecting rod 115 on the cutter suction dredger is an original point 0, and the position of any distance measuring point relative to the original point can be obtained according to the trigonometric function relation. Taking the position of the second ranging point P2 as an example for explanation:
coordinate X of the second ranging point P2: xP2＝0；
Coordinate Y of the second ranging point P2: y isP2＝D2×sinα2；
Coordinate Z of the second ranging point P2: zP2＝L1+L2+D2×cosα2；
Wherein D2 is the distance from the second distance measuring point P2 to the fixed position of the second sonar transducer 122 on the main connecting rod 115, and is measured by the second sonar transducer 122, preferably considering the length of the second connecting rod 112 to reduce the error; l is1The distance between the first sonar transducer 121 and the fixed position of the main connecting rod 115 on the cutter suction vessel; l is2The distance from the fixed position of the first sonar transducer 121 on the main link 115 to the fixed position of the second sonar transducer 122 on the main link 115; α 2 is the second angle formed between the second connecting rod 112 and the main connecting rod 115.
And the acquisition of the positions of other ranging points is analogized, and the repeated description is omitted, so that the slope line of the underwater sand pile form can be obtained according to the positions of the ranging points.
The processing device is further configured to calculate a position relationship between the reamer head 420 and a gradient line of the underwater sand pile according to the size of the cutter suction dredger 400, a relative position relationship between the detection device 100 and the reamer head 420, and the position of the origin.
Further, the processing device 200 of the underwater sand pile form detection device not only can convert the raw sensor data obtained by the sonar transducer array 120 into a description mode of sand pile slope lines, but also can describe the relative position relationship between the reamer head and the current sand pile slope lines by combining ship size and measurement data. The original sensing data comprise distance data of each ranging point measured by sonar transducer sound waves and layout angles of each sonar transducer. Still further, the processing device 200 also provides an operation interface to display the slope line of the underwater sand pile on the display device 300 in an intuitive plane relation and numerical display manner. As shown in fig. 6, for the utility model discloses a slope line display sketch map of detection device of sand pile form under water, on the UI interface that display device 300 shows, wherein, d1 distance slope line, d2 distance slope line and d2 distance slope line are the detection device 100 distance the same sand pile slope line under water that obtains when the different distance of sand pile (d1 > d2 > d3) sketch map. Besides the display area for displaying the sand pile gradient line, the UI can also present a user interaction area according to the actual working condition, wherein the user interaction area comprises a parameter setting area, a command sending area, a state display area, gradient line display setting and the like.
Preferably, in a preferred embodiment of the present invention, referring to fig. 3, the position of the underwater sand pile form detection device on the cutter suction vessel is illustrated by taking the cutter suction vessel 400 as an example, and specifically, the cutter suction vessel 400 includes a cab 410 and a reamer head 420. In a first direction, one end of the main connecting rod 115 of the connecting rod 110 is fixedly installed on the starboard of the cutter-suction ship 400 and is close to the reamer head 420 of the cutter-suction ship 400, and the other end of the main connecting rod 115 is vertically placed under water and connected with the sonar transducer array 120; the processing device 200 and the display device are arranged in the cab 410 of the cutter suction vessel 400, and the detection 100 is performed. The vertical plane where the N sonar transducers and the connecting rod 110 are located is parallel to the first direction; the processing equipment and the display equipment are positioned in a cab of the cutter suction dredger; wherein the detection device 100 is in remote communication connection with the processing device 200, and the first direction is the advancing direction of the cutter suction dredger.
In the description of the present invention, it is to be understood that the positional or positional relationships indicated by the terms "length", "width", "thickness", "upper", "lower", "front", "left", "right", "vertical", "horizontal", and the like are based on the positional or positional relationships shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element so indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
In summary, the above embodiments have been described in detail on different configurations of an underwater sand pile form detection device, and it is understood that the above description is only a description of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, the present invention includes but is not limited to the configurations listed in the above embodiments, and those skilled in the art can take the three aspects according to the above embodiments, and any changes and modifications made by those skilled in the art according to the above disclosure all belong to the protection scope of the claims.
Claims (8)
1. The device for detecting the underwater sand pile form is characterized by comprising detection equipment, processing equipment and display equipment, wherein the detection equipment and the display equipment are connected with the processing equipment;
the detection equipment is used for acquiring the distances from N ranging points of the underwater sand pile to the detection equipment respectively and transmitting the distances from the N ranging points to the processing equipment;
the processing equipment is used for receiving the distances from the N ranging points to the detection equipment, and calculating the positions of the N ranging points according to the distances and the position relationship between the detection equipment and the ranging points to obtain a gradient line of the underwater sand pile;
the display equipment is used for displaying a gradient line of the underwater sand pile;
wherein N is more than or equal to 3.
2. The device for detecting the form of the underwater sand pile is characterized by being used for a cutter suction ship, wherein the detection equipment comprises a connecting rod and a sonar transducer array fixedly connected to the connecting rod;
the connecting rod is fixedly arranged on the cutter suction boat, the sonar transducer array comprises N sonar transducers, and the sonar transducers correspond to the ranging points one by one;
the N sonar transducers and the connecting rod are positioned on the same vertical plane, and the N sonar transducers are positioned between the connecting rod and the underwater sand pile;
the detection equipment is used for obtaining N range points of the underwater sand pile and respectively reaches the distance of the detection equipment, wherein the N range points of the underwater sand pile are used for obtaining the distance from the N range points of the underwater sand pile to the corresponding sonar transducer.
3. The detection device of sand pile form under water according to claim 2, characterized in that, N the sonar transducer be located the same one side of connecting rod still includes, N the sonar transducer all is different with the contained angle of connecting rod.
4. The device for detecting the underwater sand pile form according to claim 2, wherein the processing equipment comprises a host and a multi-channel control unit connected with the host, and the multi-channel control unit is connected with the sonar transducer array;
the N sonar transducers of the sonar transducer array are correspondingly connected with the channels of the multi-channel control unit one by one;
the multichannel control unit is used for controlling the N sonar transducers to acquire the distances of N ranging points of the underwater sand pile corresponding to the sonar transducers respectively;
the multichannel control unit is still with the sand pile N range finding point under water respectively to the distance transmission of corresponding sonar transducer for the host computer.
5. The device for detecting the form of the underwater sand pile is characterized in that the sonar transducer array comprises four sonar transducers;
wherein, along the sequence from bottom to top, the included angles between the four sonar transducers and the connecting rod are respectively 0 degree, 40 degrees, 60 degrees and 80 degrees;
and the four sonar transducers are arranged at equal intervals at fixed positions on the connecting rod.
6. The device according to any one of claims 2 to 5, wherein the device for obtaining the positions of the N distance-measuring points according to the distance and the positional relationship between the detection equipment and the distance-measuring points comprises calculating the positions of the N distance-measuring points relative to the origin according to the number N of the sonar transducer arrays, the distance between the fixed point of each sonar transducer on the connecting rod and the origin, and the included angle between the sonar transducer and the connecting rod, with one end of the connecting rod as the origin, so as to obtain the gradient lines of the underwater sand pile.
7. The device for detecting the form of the underwater sand pile as claimed in claim 6, wherein the processing equipment is further configured to calculate the position relationship between the reamer head and the slope line of the underwater sand pile according to the positions of the reamer head of the cutter suction ship and the origin.
8. The device for detecting the form of the underwater sand pile as claimed in claim 2, wherein one end of the connecting rod is fixedly arranged on a starboard of the cutter suction ship along a first direction, and the connecting rod is arranged close to a cutter head of the cutter suction ship;
the N sonar transducers and the vertical plane where the connecting rod is located are parallel to the first direction;
the processing equipment and the display equipment are positioned in a cab of the cutter suction dredger;
the detection device is in remote communication connection with the processing device, and the first direction is the advancing direction of the cutter suction dredger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921184147.5U CN209991952U (en) | 2019-07-24 | 2019-07-24 | Detection apparatus for sand piles form under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921184147.5U CN209991952U (en) | 2019-07-24 | 2019-07-24 | Detection apparatus for sand piles form under water |
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| Publication Number | Publication Date |
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| CN209991952U true CN209991952U (en) | 2020-01-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921184147.5U Withdrawn - After Issue CN209991952U (en) | 2019-07-24 | 2019-07-24 | Detection apparatus for sand piles form under water |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110274558A (en) * | 2019-07-24 | 2019-09-24 | 中交上海航道局有限公司 | A kind of detection system and method for underwater sand heap form |
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2019
- 2019-07-24 CN CN201921184147.5U patent/CN209991952U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110274558A (en) * | 2019-07-24 | 2019-09-24 | 中交上海航道局有限公司 | A kind of detection system and method for underwater sand heap form |
| CN110274558B (en) * | 2019-07-24 | 2024-02-20 | 中交上海航道局有限公司 | System and method for detecting form of underwater sand pile |
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