CN214951666U - Intelligent water depth measuring device and system - Google Patents
Intelligent water depth measuring device and system Download PDFInfo
- Publication number
- CN214951666U CN214951666U CN202120578426.0U CN202120578426U CN214951666U CN 214951666 U CN214951666 U CN 214951666U CN 202120578426 U CN202120578426 U CN 202120578426U CN 214951666 U CN214951666 U CN 214951666U
- Authority
- CN
- China
- Prior art keywords
- bathymetry
- data
- intelligent
- bathymetric
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The utility model relates to an intelligence bathymetric survey device and system, intelligence bathymetric survey device obtain multi-beam bathymetric survey data or single beam bathymetric survey data through multi-beam bathymetric survey module or single beam bathymetric survey module to accomplish field data acquisition and interior industry data processing according to multi-beam bathymetric survey data or single beam bathymetric survey data by handling computer module, obtain the bathymetric survey result. Based on the method, multi-type measurement data are provided through the multi-beam bathymetry device, the RTK three-dimensional bathymetry device and the real-time observation device in the multi-beam bathymetry module, and the data of the single-beam bathymetry data are matched, so that the advantages of the various types of measurement data are exerted, manual operation steps in the interior operation processing are reduced, the interior operation processing time is shortened, and the stability and the efficiency of intelligent bathymetry are improved. The cloud server is in favor of data expansion and application expansion of the intelligent water depth measuring device through data interaction with the intelligent water depth measuring device.
Description
Technical Field
The utility model relates to a survey and drawing technical field especially relates to an intelligence bathymetric survey device and system.
Background
Bathymetry is the work of determining the height of a water bottom point to the water surface and the plane position of the point. The water depth measurement is used as a central link of sea channel measurement and seabed topography measurement, and aims to provide channel depth for ship navigation and determine the position, depth and properties of navigation obstacles. The traditional water depth measurement is mainly completed by measuring equipment such as a sounding rod, a thallium, an echo sounder, a multi-beam echo sounding system, a submarine landform detector and the like, and measurement data is obtained to complete mapping.
After the measurement equipment finishes measuring to obtain measurement data, two parts of field data and field data processing are required to finish mapping. That is, when the water depth measurement is performed, the overall required time is equal to the sum of the field operation time length and the field operation time length. However, the conventional bathymetric surveying device has unstable working time of field work and interior work in different working scenes due to the lack of standardized working modes of hardware and software, and the working time is long in partial working environments, so that the high efficiency and stability of a bathymetric survey map are difficult to ensure.
SUMMERY OF THE UTILITY MODEL
Based on this, it is necessary to provide an intelligent bathymetric surveying device and system aiming at the defects that the operation duration of field operation and interior operation of the traditional bathymetric surveying device is unstable under different operation scenes, the operation duration is long under partial operation environments, and the high efficiency and stability of a bathymetric survey map are difficult to ensure.
An intelligent bathymetric surveying device comprising:
a multi-beam bathymetry module or a single-beam bathymetry module;
the multi-beam bathymetry module comprises multi-beam bathymetry equipment, RTK three-dimensional bathymetry equipment and real-time observation equipment and is used for obtaining multi-beam bathymetry data;
the single-beam bathymetric measurement module is used for obtaining single-beam bathymetric measurement data;
and the processing computer module is used for finishing field data acquisition and field data processing according to the multi-beam bathymetric data or the single-beam bathymetric data to obtain a bathymetric result.
According to the intelligent bathymetric measuring device, the multi-beam bathymetry data or the single-beam bathymetry data are obtained through the multi-beam bathymetry module or the single-beam bathymetry module, and the field data acquisition and the field data processing are completed through the processing computer module according to the multi-beam bathymetry data or the single-beam bathymetry data, so that a bathymetry result is obtained. Based on the method, multi-type measurement data are provided through the multi-beam bathymetry device, the RTK three-dimensional bathymetry device and the real-time observation device in the multi-beam bathymetry module, and the data of the single-beam bathymetry data are matched, so that the advantages of the various types of measurement data are exerted, manual operation steps in the interior operation processing are reduced, the interior operation processing time is shortened, and the stability and the efficiency of intelligent bathymetry are improved.
In one embodiment, the multi-beam sounding apparatus includes:
a multi-beam bathymeter;
the intelligent sounding support is used for mounting the multi-beam sounding instrument; the intelligent sounding support is used for driving the multi-beam sounding instrument so as to adjust the position of the multi-beam sounding instrument.
In one embodiment, the smart depth-finding support comprises:
one end of the connecting pipe is used for fixing the multi-beam depth sounder;
a motion control unit for adjusting the position of the connection pipe;
and the fixing unit is fixed in the measuring field and used for fixing the motion control unit.
In one embodiment, the motion control unit comprises:
the rotating mechanism is used for driving the connecting pipe to lower or lift the multi-beam depth sounder;
and the translation mechanism is used for driving the connecting pipe to move in the horizontal direction.
In one embodiment, the fixing unit includes:
the equipment installation chassis is used for being fixed in a measurement field;
and the equipment fixing support is used for being fixed on the equipment mounting underframe and fixing the motion control unit.
In one embodiment, the connecting tube comprises one or more flanged pipe members;
the rotating mechanism comprises a motor, a speed reducer, a positioning pin and a protective cover; wherein, a motor shaft of the motor is used for driving the connecting pipe;
the translation mechanism comprises a hand wheel, a lead screw, a bearing, a steel shaft, a limiter and a telescopic shaft; the telescopic shaft is used for driving the connecting pipe;
the connecting pipe locking mechanism is used for fixing the connecting pipe on the rotating mechanism or the translation mechanism and comprises a base and three hoops;
the device also comprises a fixed V-shaped bracket used for fixing the connecting pipe on a measuring field, wherein the fixed V-shaped bracket comprises a hinge, a hoop and a bracket;
the control box is used for controlling the motor to rotate.
In one embodiment, the RTK three-dimensional bathymetry device includes a GPS receiver.
In one embodiment, the single beam bathymetry module comprises:
a single beam depth finder;
the unmanned ship subsystem is used for bearing the single-beam depth sounder;
and the shore-based control subsystem is used for controlling the motion of the unmanned ship subsystem and carrying out data interaction with the single-beam depth sounder.
In one embodiment, the real-time observation equipment comprises a compass, a motion sensor, a surface sound velocimeter, a sound velocity profiler and a tide level.
An intelligent bathymetric survey system comprising:
the intelligent bathymetric survey device of any one of the above embodiments;
and the cloud server is used for carrying out data interaction with the intelligent water depth measuring device.
According to the intelligent bathymetry system, the intelligent bathymetry device obtains the multi-beam bathymetry data or the single-beam bathymetry data through the multi-beam bathymetry module or the single-beam bathymetry module, and the processing computer module finishes field data acquisition and interior data processing according to the multi-beam bathymetry data or the single-beam bathymetry data to obtain the bathymetry result. Based on the method, multi-type measurement data are provided through the multi-beam bathymetry device, the RTK three-dimensional bathymetry device and the real-time observation device in the multi-beam bathymetry module, and the data of the single-beam bathymetry data are matched, so that the advantages of the various types of measurement data are exerted, manual operation steps in the interior operation processing are reduced, the interior operation processing time is shortened, and the stability and the efficiency of intelligent bathymetry are improved. The cloud server is in favor of data expansion and application expansion of the intelligent water depth measuring device through data interaction with the intelligent water depth measuring device.
Drawings
FIG. 1 is a block diagram of an embodiment of an intelligent bathymetric surveying device;
FIG. 2 is a block diagram of another embodiment of an intelligent bathymetric surveying device;
FIG. 3 is a block diagram of an intelligent bathymetric survey apparatus according to still another embodiment;
FIG. 4 is a block diagram of an intelligent bathymetric surveying device according to still another embodiment;
fig. 5 is a schematic structural diagram of a multi-beam sounding device according to a specific application example;
FIG. 6 is a partial schematic view of a rotational structure;
FIG. 7 is a partial schematic view of a translating structure;
FIG. 8 is a schematic diagram of an RTK three-dimensional bathymetry operation according to an embodiment;
FIG. 9 is a block diagram of a single beam bathymetry module according to one embodiment;
FIG. 10 is a schematic diagram of a single beam bathymetric measurement module measurement operation according to one embodiment;
fig. 11 is a block diagram of an intelligent bathymetric survey system according to an embodiment.
Detailed Description
For better understanding of the objects, technical solutions and technical effects of the present invention, the present invention will be further explained with reference to the accompanying drawings and embodiments. It is to be noted that the following examples are only for explaining the present invention and are not intended to limit the present invention.
The embodiment of the utility model provides an intelligence bathymetric survey device.
Fig. 1 is a block diagram of an intelligent water depth measuring device according to an embodiment, and as shown in fig. 1, the intelligent water depth measuring device according to an embodiment includes:
a multi-beam bathymetry module 100 or a single-beam bathymetry module 101;
the multi-beam bathymetric measurement module 100 includes a multi-beam bathymetric measurement device 200, an RTK (Real-time kinematic) three-dimensional bathymetric measurement device 201, and a Real-time observation device 202, and is configured to obtain multi-beam bathymetric measurement data;
the single-beam bathymetry module 101 is used for obtaining single-beam bathymetry data;
and the processing computer module 102 is used for completing field data acquisition and field data processing according to the multi-beam bathymetric data or the single-beam bathymetric data to obtain a bathymetric result.
The multi-beam bathymetry module 100 finishes measurement data acquisition according to various types of equipment and various types of equipment systems according to various types of equipment, and obtains multi-beam bathymetry data from various types of measurement data sets. The processing computer module 102 acquires multi-beam bathymetric data or single-beam bathymetric data, completes field data acquisition, and further obtains bathymetric measurement results, such as bathymetric maps or bathymetric data, through field data processing.
In one embodiment, the real-time observation device 202 includes a compass, a motion sensor, a surface sound velocimeter, a sound velocity profiler, and a tide level. Correspondingly, the multi-beam bathymetric data comprises multi-beam bathymetric data, sound velocity data, tide level data, coordinate system parameters or equipment installation parameters and the like. By using the measured data of each system in the real-time observation equipment 202, the processing computer module 102 does not need to perform operations such as tide level correction or sound velocity correction when performing interior work data processing, thereby improving the time efficiency of interior work processing.
In one embodiment, the processing computer module 102 comprises a terminal computer device such as a desktop computer, a laptop computer, or a smart phone. The processing computer module 102 runs multi-beam sonar control software, field data acquisition software, interior data processing software, sound velocity profile acquisition software, or the like, and completes data processing operations after measurement data acquisition.
In one embodiment, fig. 2 is a block diagram of an intelligent bathymetry device according to another embodiment, and as shown in fig. 2, the multi-beam bathymetry device 200 includes:
a multi-beam bathymeter 300;
the intelligent sounding support 301 is used for mounting the multi-beam sounding instrument 300; the intelligent sounding support 301 is used for driving the multi-beam sounding instrument 300 to adjust the position of the multi-beam sounding instrument 300.
The multi-beam bathymeter 300 is used for collecting multi-beam bathymetry data, and is a key device for bathymetry. In one embodiment, multibeam echosounder 300 comprises a multibeam transducer. The multi-beam transducer comprises a transmitting unit and a receiving unit, wherein the transmitting unit is used for transmitting ultrasonic signals to complete water depth measurement and sending data to the receiving unit to generate multi-beam sounding data. As a preferred embodiment, the transmitting unit is mounted on the intelligent sounding support 301 for water depth measurement.
As a preferred embodiment, multi-beam sounder 300 is implemented using the Reason sea T50/T20 or R2sonic 2024 series multi-beam product equipment.
The intelligent depth sounding support 301 is installed in a measurement site, which includes a bank, a ship, and the like. The intelligent bathymetric support 301 is installed in a measuring field, provides stable support for the multi-beam bathymeter 300, drives the multi-beam bathymeter 300 through mechanical motion, adjusts the position of the multi-beam bathymeter 300, facilitates the folding and unfolding of the multi-beam bathymeter 300, reduces the time required by bathymetry field work, and further improves the intelligent bathymetry efficiency.
In one embodiment, the smart depth finder support 301 includes a support for being fixed in a measurement field and a mechanical device for driving the multi-beam depth finder 300 to adjust the position of the multi-beam depth finder 300.
In one embodiment, fig. 3 is a block diagram of a module of an intelligent bathymetric surveying device according to another embodiment, and as shown in fig. 3, an intelligent bathymetric measuring rack 301 includes:
a connection pipe 400 having one end for fixing the multibeam echosounder 300;
a motion control unit 401 for adjusting the position of the connection pipe 400;
and a fixing unit 402 fixed in the measurement site and used to fix the motion control unit 401.
The connection tube 400 has a length, and one side, i.e., a section, is used for fixing the multi-beam depth sounder 300, so that the multi-beam depth sounder 300 is set to a target position.
The motion control unit 401 drives the connection pipe 400 to rotate or stretch through mechanical motion, and changes the position of the connection pipe 400, so as to indirectly change the position of the multi-beam depth finder 300.
The fixing unit 402 provides a fixed support for the motion control unit 401 after being fixed at the measurement site. In one embodiment, the fixing unit 402 is a metal bracket, fixed to the measurement site by a mechanical connection manner such as a bolt or a snap, and provides a fixing support for the motion control unit 401 by a mechanical connection manner such as a bolt or a snap.
In one embodiment, fig. 4 is a block diagram of an intelligent bathymetric survey device according to still another embodiment, and as shown in fig. 4, a motion control unit 401 includes:
the rotating mechanism 500 is used for driving the connecting pipe 400 to lower or lift the multi-beam depth sounder 300;
501, for driving the connection pipe 400 to move the connection pipe 400 in the horizontal direction.
Wherein, the rotating mechanism 500 comprises a mechanical rotating mechanism 500 such as a motor or a turntable or a manual rotating mechanism 500, the connecting pipe 400 is driven by rotation, one end of the connecting pipe 400 is used as a rotating axis, and the multi-beam depth sounder 300 at the other end is lowered or lifted by rotation.
The translation mechanism 501 is used to translate the connection tube 400 in the horizontal direction, and the connection tube 400 is translated integrally by mechanical translation movement.
In one embodiment, as shown in fig. 4, the fixing unit 402 includes:
an equipment mounting chassis 502 for securing in a measurement site;
a device fixing bracket 503 for fixing to the device mounting chassis 502 and for fixing the motion control unit 401.
Through the discrete arrangement of the equipment installation chassis 502 and the equipment fixing support 503, the arrangement of the multi-beam sounding equipment 200 is facilitated, and the time of field work is shortened.
In one embodiment, fig. 5 is a schematic diagram of a multi-beam sounding device in a specific application example, as shown in fig. 5, a connecting pipe 400 includes one or more flanged pipe members;
in one embodiment, the connection pipe 400 includes 1 stainless steel flange pipe, and 1 stainless steel flange pipe is composed of 4 flange pipes, 2 flange pipes of 2 meters, 1 flange pipe of 1 meter, and 1 flange pipe of 1.5 meters, which can be freely combined to change the length of the connection pipe 400.
The rotating mechanism 500 comprises a motor, a speed reducer, a positioning pin and a protective cover; wherein, a motor shaft of the motor is used for driving the connecting pipe 400;
fig. 6 is a partial schematic view of a rotating structure, and as shown in fig. 6, the rotating mechanism 500 comprises a motor, a speed reducer M1, a positioning pin, a protective cover and the like, and provides rotating power for the multi-beam device, and the lowering and lifting of the device are realized by the forward and reverse rotation of the motor, so that the device is particularly convenient under the condition that an electric hoist is inconvenient to arrange on a small ship, the labor intensity of an operator is effectively reduced, a motor shaft is a hollow sliding key H1, and a telescopic shaft can slide in the axial direction.
The translation mechanism 501 comprises a handwheel C1, a lead screw S1, a bearing, a steel shaft, a stopper and a telescopic shaft S2; the telescopic shaft is used for driving the connecting pipe 400;
fig. 7 is a partial schematic view of a translation structure, and as shown in fig. 7, the translation mechanism 501 includes a hand wheel, a lead screw, a bearing, a steel shaft, a stopper, etc., the retracting and releasing hand wheel is connected with the telescopic shaft through the lead screw, the telescopic shaft is provided with a lead screw nut, and when the connecting pipe 400 is in a horizontal mode, the connecting rod is pushed out and retracted by operating the hand wheel.
The connecting pipe 400 locking mechanism is used for fixing the connecting pipe 400 on the rotating mechanism 500 or the translation mechanism 501, and the connecting pipe 400 locking mechanism comprises a base and three hoops;
the locking mechanism of the connecting pipe 400 comprises a base, three hoops and the like, and is used for fixing the connecting pipe 400.
The device also comprises a fixed V-shaped bracket used for fixing the connecting pipe 400 on a measuring field, wherein the fixed V-shaped bracket comprises a hinge, a hoop and a bracket;
the fixed V-shaped support comprises a hinge, a hoop, a support and the like, and the V-shaped opening support with automatic centering is adopted, so that the multi-beam connecting rod can be quickly and accurately led into the V-shaped block and is pulled to be flat by a tensioning steel cable.
The control box is used for controlling the motor to rotate.
The portable control box is used for controlling the positive and negative rotation of the motor to realize the lifting of the connecting rod; the tensioning component comprises a hand-operated hoist, a steel cable, a wire buckle and the like; the height-adjustable auxiliary stand is disposed on the deck of the ship for supporting the connection pipe 400 after recovery.
In one embodiment, as shown in fig. 5, the equipment mounting chassis 502 is used for connection to the hull of a ship, and is fixed by means of screws or welding.
In one embodiment, as shown in fig. 5, there are 2 equipment holding racks 503, one high rack, 0.8 meters; a low rack, 0.4 meters. The two can be combined for use, the frame with the steel structure is fixed on a ship deck in a welding or screw fixing mode, and firm and reliable stress support is provided for the multi-beam rapid take-up and pay-off device.
In one embodiment, the RTK three-dimensional bathymetry device 201 includes a GPS receiver.
The RTK three-dimensional underwater multi-beam measurement can obtain plane positioning data by using RTK, simultaneously can obtain tide level data by using RTK elevation data through real-time resolving, and can convert RTK elevation information into required tide level data by selecting a GPS tide level method during multi-beam data internal processing, and the using process is relatively convenient.
Fig. 8 is a schematic diagram of an RTK three-dimensional bathymetry operation according to an embodiment, as shown in fig. 8:
h is the geodetic height measured by the GPS receiver;
l is the height from the RTK GPS receiver antenna to the water surface;
d is the distance from the multi-beam transducer to the water surface (static draft);
h is the Heave value (heavie) of the ship measured by the motion sensor;
t is a tide level value measured by RTK;
d is the water depth value measured by the multi-beam;
ζ is the distance from the water depth measuring reference surface to the WGS84 ellipsoid (elevation anomaly);
s is the depth of water below the depth reference plane.
According to the principle of the RTK three-dimensional bathymetry in the above figure, the following formula can be obtained:
T＝H-ζ-L-h
S＝D+d-T-h＝D-(H-ζ)+(L+d)
at the moment, D is the multi-beam real-time measured water depth, and L + D is the distance from the RTK-GPS receiver to the bottom of the multi-beam probe and is a fixed value. When the GPS acquires elevation data based on a local theoretical depth datum plane in real time, the aim of RTK three-dimensional multi-beam measurement can be achieved, and accurate GPS tide level data can be obtained.
In one embodiment, as shown in fig. 2, the single beam bathymetry module 101 includes:
a single beam depth finder 302;
the unmanned ship subsystem 303 is used for bearing the single-beam depth finder 302;
and the shore-based control subsystem 304 is used for controlling the movement of the unmanned ship subsystem 303 and performing data interaction with the single-beam depth sounder 302.
Fig. 9 is a structural diagram of a single-beam bathymetric measurement module according to an embodiment, and as shown in fig. 9, the unmanned ship subsystem 303 includes an obstacle avoidance module, a navigation positioning module, a depth measurement module (single-beam depth meter 302), and a ship body module. The shore-based control subsystem 304 includes a terminal module, a wireless base station module, and a remote controller module.
An operator controls the unmanned ship subsystem 303 through the shore-based control subsystem 304 to complete the water depth measurement, and provides various measurement modes for single-beam water depth measurement through flexible movement of the unmanned measurement ship.
In one embodiment, the single beam depth finder 302 is implemented using an SDE-18S high precision depth finder.
In one embodiment, the unmanned ship subsystem 303 is an Ocean alpha SL40 unmanned survey ship.
After completing the model selection of each system in the single-beam bathymetry module 101, fig. 10 is a schematic diagram of the measurement operation of the single-beam bathymetry module 101 according to an embodiment, as shown in fig. 10, H is a distance from a known phase center of the GNSS receiver to the transducer, ξ is an elevation anomaly value, the GNSS receiver obtains an instantaneous position including a plane position and an earth height H0 at a certain time by receiving an RTK signal, the depth finder calculates a time interval t between a transmitted beam and a received beam at the corresponding time, a propagation speed of a sound wave in water is v, and then the distance from the transducer to the bottom surface of the water at the time is:
S＝1/2*vt，
at the moment, the elevation H of the water bottom surface relative to the quasi-geoid level surface is H ═ H + S-H0+ xi
Because the GNSS receiver can acquire accurate elevation data in real time at a certain frequency, the measured elevation of the sea bottom surface can be acquired in real time.
According to the intelligent bathymetry device, multi-beam bathymetry data or single-beam bathymetry data are obtained through the multi-beam bathymetry module 100 or the single-beam bathymetry module 101, and field data acquisition and field data processing are completed through the processing computer module 102 according to the multi-beam bathymetry data or the single-beam bathymetry data, so that a bathymetry result is obtained. Based on this, the multi-beam bathymetry device 200, the RTK three-dimensional bathymetry device 201 and the real-time observation device 202 in the multi-beam bathymetry module 100 provide various types of measurement data, and the data cooperation of the single-beam bathymetry data, so that the advantages of various types of measurement data are exerted, manual operation steps in the interior work processing are reduced, the interior work processing time is reduced, and the stability and the efficiency of intelligent bathymetry are improved.
The embodiment of the utility model provides a still provide an intelligence bathymetric survey system.
Fig. 11 is a block diagram of an intelligent water depth measuring system according to an embodiment, and as shown in fig. 11, the intelligent water depth measuring system according to an embodiment includes:
the intelligent bathymetric surveying device 1000 of any of the embodiments described above;
and the cloud server 1001 is used for performing 1000 data interaction with the intelligent water depth measuring device.
In the above-mentioned intelligent bathymetric system, the intelligent bathymetric measurement device 1000 obtains the multi-beam bathymetric data or the single-beam bathymetric data through the multi-beam bathymetric measurement module or the single-beam bathymetric measurement module, and the processing computer module finishes field data acquisition and field data processing according to the multi-beam bathymetric data or the single-beam bathymetric data to obtain the bathymetric measurement result. Based on the method, multi-type measurement data are provided through the multi-beam bathymetry device, the RTK three-dimensional bathymetry device and the real-time observation device in the multi-beam bathymetry module, and the data of the single-beam bathymetry data are matched, so that the advantages of the various types of measurement data are exerted, manual operation steps in the interior operation processing are reduced, the interior operation processing time is shortened, and the stability and the efficiency of intelligent bathymetry are improved. The cloud server 1001 is in favor of data expansion and application expansion of the intelligent water depth measuring device through data interaction with the intelligent water depth measuring device.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only represent some embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. An intelligent bathymetric survey device, comprising:
a multi-beam bathymetry module or a single-beam bathymetry module;
the multi-beam bathymetry module comprises multi-beam bathymetry equipment, RTK three-dimensional bathymetry equipment and real-time observation equipment and is used for obtaining multi-beam bathymetry data;
the single-beam bathymetric measurement module is used for obtaining single-beam bathymetric measurement data;
and the processing computer module is used for finishing field data acquisition and field data processing according to the multi-beam bathymetric data or the single-beam bathymetric data to obtain a bathymetric measurement result.
2. The intelligent bathymetry device of claim 1, wherein the multi-beam bathymetry apparatus comprises:
a multi-beam bathymeter;
the intelligent sounding support is used for mounting the multi-beam sounding instrument; the intelligent depth sounding support is used for driving the multi-beam depth sounder to adjust the position of the multi-beam depth sounder.
3. The intelligent bathymetric surveying device of claim 2 wherein the intelligent bathymetric support comprises:
one end of the connecting pipe is used for fixing the multi-beam depth sounder;
a motion control unit for adjusting the position of the connection pipe;
and the fixing unit is fixed in the measuring field and used for fixing the motion control unit.
4. The intelligent bathymetric surveying device of claim 3 wherein the motion control unit comprises:
the rotating mechanism is used for driving the connecting pipe to lower or lift the multi-beam depth sounder;
and the translation mechanism is used for driving the connecting pipe to enable the connecting pipe to move in the horizontal direction.
5. The intelligent bathymetric surveying device of claim 4 wherein the fixing unit comprises:
the equipment installation chassis is used for being fixed in the measurement field;
and the equipment fixing support is used for being fixed on the equipment mounting underframe and fixing the motion control unit.
6. The intelligent bathymetry device of claim 5, wherein the connection pipe comprises one or more flanged pipe pieces;
the rotating mechanism comprises a motor, a speed reducer, a positioning pin and a protective cover; the motor shaft of the motor is used for driving the connecting pipe;
the translation mechanism comprises a hand wheel, a lead screw, a bearing, a steel shaft, a limiter and a telescopic shaft; the telescopic shaft is used for driving the connecting pipe;
the connecting pipe locking mechanism is used for fixing the connecting pipe on the rotating mechanism or the translation mechanism and comprises a base and three hoops;
the device also comprises a fixed V-shaped bracket used for fixing the connecting pipe on the measuring field, wherein the fixed V-shaped bracket comprises a hinge, a hoop and a bracket;
the control box is used for controlling the motor to rotate.
7. The intelligent bathymetry device of claim 1, wherein the RTK three-dimensional bathymetry device includes a GPS receiver.
8. The intelligent bathymetry device of claim 1, wherein the single beam bathymetry module comprises:
a single beam depth finder;
the unmanned ship subsystem is used for bearing the single-beam depth sounder;
and the shore-based control subsystem is used for controlling the motion of the unmanned ship subsystem and carrying out data interaction with the single-beam depth sounder.
9. The intelligent bathymetry device of claim 1 wherein the real time observation equipment includes compass, motion sensor, surface sound velocity meter, sound velocity profiler and tide level meter.
10. An intelligent bathymetric survey system, comprising:
the intelligent bathymetric surveying device of any one of claims 1 through 9;
and the cloud server is used for carrying out data interaction with the intelligent water depth measuring device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120578426.0U CN214951666U (en) | 2021-03-22 | 2021-03-22 | Intelligent water depth measuring device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120578426.0U CN214951666U (en) | 2021-03-22 | 2021-03-22 | Intelligent water depth measuring device and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214951666U true CN214951666U (en) | 2021-11-30 |
Family
ID=79041752
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120578426.0U Active CN214951666U (en) | 2021-03-22 | 2021-03-22 | Intelligent water depth measuring device and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214951666U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117104429A (en) * | 2023-07-14 | 2023-11-24 | 交通运输部水运科学研究所 | Ship draft real-time detection method and system |
-
2021
- 2021-03-22 CN CN202120578426.0U patent/CN214951666U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117104429A (en) * | 2023-07-14 | 2023-11-24 | 交通运输部水运科学研究所 | Ship draft real-time detection method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102495420B (en) | Underwater object precision positioning system and method | |
| US9223002B2 (en) | System and method for determining the position of an underwater vehicle | |
| CN108151715B (en) | Shallow water area underwater topography measurement device and method | |
| RU2426149C1 (en) | Sonar location complex | |
| CN111350214B (en) | Multi-beam underwater steel pipe pile position measuring method | |
| CN109941404B (en) | Ship dynamic draft precise measurement integrated system and method thereof | |
| CN110294080B (en) | Method for realizing underwater accurate operation by using ultra-short baseline | |
| CN214951666U (en) | Intelligent water depth measuring device and system | |
| CN105114774A (en) | Shipborne depthometer fixing device | |
| RU2610149C1 (en) | Towed underwater vehicle, equipped with sonar equipment for detecting silting facilities and pipelines, and their subsequent monitoring | |
| KR101827742B1 (en) | Asv(autonomous surface vehicle) for shallow water survey competent movement and horizontal maintenance using drone | |
| JPH10123247A (en) | Real-time underwater execution control method | |
| US5173882A (en) | Sonar system for and method of arctic seafloor reconnaissance | |
| CN112014847A (en) | System and method for rapidly correcting fish finder on site | |
| KR101812027B1 (en) | Method and system for estimating location of a plurality of underwater robot connercted by cable | |
| CN205427208U (en) | Level formula underwater detection positioner | |
| KR102612198B1 (en) | Asv for underwater cultural asset exploration | |
| AU2012200886A1 (en) | System and method for determining the position of an underwater vehicle | |
| CN217484511U (en) | Underwater terrain measuring equipment | |
| CN216013634U (en) | Real-time self-calibration device for position of underwater acoustic receiver for water surface movable platform | |
| JPH0814621B2 (en) | Submarine topography survey method | |
| CN221054816U (en) | Autonomous line inspection system for submarine buried pipeline | |
| RU2760343C1 (en) | Multi-agent software and hardware complex for collecting, transmitting, processing, displaying data for hydrographic survey of water reservoirs and operational monitoring of changes in bottom relief | |
| CN105652343A (en) | Level type underwater detection positioning method | |
| CN105759275A (en) | Leveling type underwater detection positioning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |